ANALYSIS OF DYNAMIC BEHAVIOR OF A MULTI-RIGID-BODY SYSTEM WITH A FLOATING BASE

The potential flow theory and the Kane's method for Multi-rigid-body system are introduced to analyse the dynamic behavior of a multi-rigid-body system with a floating base. The action of the incident regular waves and the influence of the rotation and up and down movements of the upper bodies on the floating base are considered. The dynamic equations of motion of the system are obtained. Their application to a stationary floating base under three different conditions is briefly discussed.