Optimized Design of the Grasping Mechanism for Floating Island Vegetation Laying Boat

Kambale Mughanda; Haipeng Yan; Xiongfei Yan; Zhenduo Yang; Changyu Wang; Zhuo Chen; Jia Zhang

doi:10.6911/WSRJ.202507_11(7).0001

Authors

Kambale Mughanda
Haipeng Yan
Xiongfei Yan
Zhenduo Yang
Changyu Wang
Zhuo Chen
Jia Zhang

DOI:

https://doi.org/10.6911/WSRJ.202507_11(7).0001

Keywords:

Ecological Floating Island; Dynamic Water Disturbance; Adaptive Grasping; Electromagnetic Adsorption Technology; Positioning Accuracy.

Abstract

To address the technical challenges of accurate deployment of ecological floating islands in dynamic water environments, this study proposes an intelligent operation system integrating high-precision positioning and adaptive grasping capabilities. Through hydrodynamic disturbance spectrum analysis, a wave-structure coupling dynamic model was established, and an innovative composite control strategy based on PID control and wave feedforward compensation was developed. At the same time, the system adopts a three-degree-of-freedom spatial motion structure, integrating a non-contact electromagnetic adsorption end effector with a funnel guidance structure, achieving adaptive grasping within a load range of 10±2 kg, and completely avoiding damage to the HDPE surface. By optimizing the design of the clamping mechanism, its static stiffness was increased by 42%, and the fatigue life exceeded 1×10^6 cycles. This design effectively solves the precise operation challenges of floating island engineering equipment in dynamic water environments, providing key technical support for the large-scale application of ecological floating island technology.

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References

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