Mathematical Model of Flexible Link Dynamics in Marine Tethered Systems Considering Torsion and its Influence on Tension Force

Abstract The rigidity in bending of a flexible link (is an important characteristic that should be considered during regular service conditions. tension and with torsion wire ropes are also significant factors. This study proposed method to calculate the vectors generalised forces links. One causes torsional stresses power plant underwater tethered systems is interaction ship equipment, such as spiral winding on winch drum, friction flanges pulleys or drums, bends various blocks rolls cause torsion. source FL may related manufacturing, storage, transportation, its placement ship’s drums. Torsion can lead decrease tensile strength due load redistribution between elements, even violation their structure. In some cases, significantly affects movement system whole. development mathematical model describe marine dynamics, taking into account effect torsion, relevant. dynamics was improved solved by accounting for link, using algorithm computer program. influence deflection were based example two problems. developed program’s working window image shows simulated parameters initial position link. results show has almost no shape link’s X0Z plane, but leads deviation from plane when calculating static When carrier vessel stationary submersible vehicle restrictions positive buoyancy, three-dimensional change both X0Y plane. force along length distributed unevenly, changes shape, trajectory towed objects, acting elements