Proceedings of the ASME 2014 International Design Engineering Technical Conferences &

Computers and Information in Engineering Conference

IDETC/CIE 2014
August 17-20, 2014, Buffalo, New York, USA

DETC2014-34171
Study on the Offshore Wind Turbine Installation Equipment with 6 Sets of
Intelligent Legs
Chunxiang Ma* Miaoqi Zheng Jun He Feng Gao$
State Key Laboratory of Mechanical System and Vibration, School of Mechanical and Power Engineering, Shanghai
Jiao Tong University, Shanghai, 200240,China.
*
cxma@sjtu.edu.cn, zmq7754@sjtu.edu.cn, jhe@sjtu.edu.cn, $fengg@sjtu.edu.cn

dragged to the destination by tugboat and fixed there.

Sandy Butterfield [5] studied a floating structure that may
replace driven monopoles or conventional concrete gravity
bases. Further more, the analysis of the pitch, roll and
heave motions of floating wind turbine has been done. But
as A floating structure must provide enough buoyancy to
support the weight of the turbine and restrain pitch, roll
and heave motions within acceptable limits, there are still
many technical problems needed to be solved.
The parallel mechanisms have been extensively used in
industry, such as the parallel robots, the parallel earthquake

AbstractIn this paper, a new type of the offshore wind

turbine installation equipment is proposed, which has 6
sets of intelligent legs. Each intelligent leg consists of
two-UPS and one-UP. Based on the theory of the parallel
mechanism, the mechanism of this offshore wind turbine
installation equipment with 6 sets of intelligent legs is
constructed. We take a set of the intelligent leg for
analysis and conducted kinematic analysis and dynamic
analysis on the offshore wind turbine installation
equipment. Finally, by studying the fuzzy reliability of the
kinematic accuracy of a branch, the reliability model of
the whole mechanism of the installation equipment
combined with the characteristics of installation process
is established, and the calculation of the fuzzy reliability
of the kinematic accuracy of the whole mechanism is
carried out .
Keywords: Offshore wind turbine , Installation equipment,
Kinematic, Dynamic, fuzzy reliability

Wind turbine
Mechanism

INTRODUCTION
1
With the coming mature of the wind energy technology,
wind energy has become one of the most important
solutions to energy crisis[1]. By far, offshore wind farms
are the main implementation model for onshore wind
power utilization[2]. The offshore wind energy is also 1.5
2 times more expensive than onshore because of
construction of foundation installation and maintenance of
offshore wind turbine[3]. Some of Scholars have done a
certain amount of research about the installation of
offshore wind turbine. Zhang[4] introduced three methods:
1.Traditional lifting method ,which installs the base,the
tower and the upper facilities of fan and engine in a
sequence. 2.Improved integral lifting method which
completes the installation and debugging of the tower and
the upper facilities on land before they are transported to
offshore destination. 3. Installation method for base and
turbine as a whole structure. In this case, the base and the
wind turbine is not separated, but exists as a whole
structure. The whole structure floats on the sea and is

Floating boat

(a) Offshore wind turbine installation equipment

Offshore wind turbine
End effector

Fi

Hook hinge

Hydraulic cylinder

Spherical hinge

Base platform

(b) Three dimensional model of mechanism

*

Corresponding author. Tel.: 86-0 21-34206554

E-mail address: cxma@sjtu.edu.cn (C. Ma).

Fig.1 The schematic diagram of offshore wind

turbine installation equipment
1

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simulators, heavy load Positioner, the parallel machine

tools, parallel link manipulator and so on[6-8]. In this
paper, a new type of the offshore wind turbine installation
equipment is proposed. It has 6 sets of intelligent legs.
Each intelligent leg consists of two- UPS and one-UP. The
mechanism of this offshore wind turbine installation
equipment is constructed. The kinematic analysis and
dynamic analysis are carried out. Finally reliability model
of the whole installation equipment combined with the
characteristics of installation process is established, and the
calculation of the fuzzy reliability of the kinematic
accuracy is carried out
MECHANISM OF THE OFFSHORE WIND
TURBINE INSTALLATION EQUIPMENT
Fig.1 shows a new type of the offshore wind turbine
installation equipment. It has 6 sets of intelligent legs.
Each intelligent leg consists of two-UPS and one-UP .The
mechanism of the offshore wind turbine installation
equipment is shown in Fig.2. From Fig.2, it can seen that
the offshore wind turbine installation equipment consists of
twelv-UPS and six-UP. Two-UPS and one-UP construct a
set of the intelligent leg. three universal joints in each
intelligent leg distribute in upper platform, which is
treated as moving platform. two spherical joints and one
fixed joint in each intelligent leg distribute in the small
moving platform and six spherical joints on the small
moving platforms are connected to down platform, which
is treated as fixed platform or base platform.

(a) The fixed and moving coordinate system

intelligent leg

(b) The distribution of the point o and the

point
Fig.3
o ' The coordinate system of each intelligent leg
O' -X 'Y ' Z ' is located in up platform. For each intelligent leg,

the partial fixed coordinate system o-xyz and the partial

moving coordinate system o' -x' y ' z ' are established as
shown in Fig.3(a). The point o of the partial fixed
coordinate system o-xyz is located in the center of three
joint on three cylinder tubes as shown in Fig.3(b). The
point o ' of the partial moving coordinate system o' -x' y ' z '
is located in the center of three joints on three piston rods
as shown in Fig.3(b). Supposed that Aj1 Aj 2 Aj 2 and
a j1a j 2 a j 2

are
norm
triagle,
Aj1 Aj 2 900mm , a j1a j 2 500mm , Aj1 , Aj 2 and Aj 3 can be
expressed
by
Aj1 - 300, 300 tan 30, 0
Aj 2 300, 300 tan 30, 0and Aj 3 0, - 600 tan 30, 0

, j 1
2...6 , a j1 , a j 2 and a j 3 can be expressed
by a j1 - 450, - 450 tan 30, 0, a j 2 450, - 450 tan 30, 0a
nd a j 3 0, 900 tan 30, 0, j 1
2...6 .
The transforming

o-xyz
o'-x'y'z'

R from o' -x' y ' z ' to o-xyz can

be derived as follows:

Fig.2 Mechanism of the offshore wind turbine

installation equipment

c c
s c
o-xyz
R
o'-x'y'z'
s

THE KINEMATIC ANALYSIS

The fixed coordinate system O-XYZ and the moving
coordinate system O' -X 'Y ' Z ' as shown in Fig.2 are
established. The fixed coordinate system O-XYZ is located
in down platform and the moving coordinate system

c s s s c
s s s c c

c s c s s
s s c c s

c s
0

c c
0

px
p y
pz

(1)

Moving vector L ji of ith cylinder of jth intelligent legs

can be expressed by

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L ji Aji

o-xyz
o'-x'y'z'

According to Eq.2, L ji can be gotten.Taking second

Ra ji

Ajix c c
A s c
jiy
Ajiz s

1 0

c s s s c

c s c s s

s s s c c

s s c c s

c s

c c

p x a jix
p y a jiy
p z a jiz

1 1

intelligent leg for example, through Matlabsoft , L ji can be

(2)

obtained during centering drum for first step where the

displacement of upper platform is 85 mm.They are shown

Where j 1, 2...6 , i 1, 2,3

The second cylinder in

second intelligent leg

Length of cylinder (m)

The third cylinder in

second intelligent leg

Length of cylinder (m)

Length of cylinder (m)

The first cylinder in

second intelligent leg

(c) displacement of upper platform(mm)

(a) displacement of upper platform(mm) (b) displacement of upper platform(mm)

Fig.4 the length of every cylinder in second intelligent leg during centering drum

The first cylinder in the

second intelligent leg

The third cylinder in the

second intelligent leg

0.3

0.6

0.9

1.2

1.5

1.8

(a)rotating angle of upper platform()

Length of cylinder (m)

Length of cylinder (m)

Length of cylinder (m)

The second cylinder in the

second intelligent leg

0.3

0.6

0.9

1.2

1.5

1.8

(b)rotating angle of upper platform()

0.3

0.6

0.9

1.2

1.5

1.8

(c)rotating angle of upper platform()

Fig.5 the length of every cylinder in second intelligent leg during centering bolt hole
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in Fig.4, where =-60 , =0 , =135 ,P Px Py Pz

Taking the second intelligent leg for example, through

Matlabsoft, force Fi supplied by every hydraulic cylinder

= 2500 2 - 2500 2 0.From Fig.4 ,it can be seen

that the three hydraulic cylinders can move smoothly
during centering drum, the displaement of the first
hydraulic cylinder is 28mm,the displacement of the second
hydraulic cylinder is 30.5mm and the displacement of the
third hydraulic cylinder is 26.5mm during centering drum
for first step. In above same way, L ji can be obtained
during centering bolt.They are shown in Fig.5,.From
Fig.5 ,it can be see that the three hydraulic cylinders can
move smoothly during centering bolt hole, the displaement
of the first hydraulic cylinder is 29mm,the displacement of
the second hydraulic cylinder is 32mm and the
displacement of the hydraulic third cylinder is27mm
during centering bolt hole.

(a) Force supplied by the first hydraulic cylinder

THE DYNAMIC ANALYSIS

Based on the Newton Euler approach for the
dynamics[9], the dynamic equator of the each intelligent
leg can be obtained as follows:

ai Ai
(( Fi mi dvi mi g ) ) F

i 1
ai Ai
3

(3)

Where a i is vector of the center point of of three

universal
joints
of the intelligent leg within o-xyz in upper

platform. Ai is vector of the center point of two spherical

joints and one fixed joint of the intelligent leg within o
xyz in small moving platform.
F is of force supplied by
each intelligent leg in the offshore wind turbine installation
equipment. Fi is force supplied by each cylinder in each
intelligent leg.

(b) Force supplied by the second hydraulic cylinder

(c) Force supplied by the third hydraulic cylinder

Fig. 7 Force supplied by each hydraulic cylinder in the second
intelligent leg during centering drum

in each intelligent leg can be obtained during centering

drum for first step, where the displacement of the upper
platform is 85 mm. They are shown in Fig7. From Fig.7 , it
can be seen that the three hydraulic cylinders can supply
the force smoothly during centering drum, the force
supplied by the first hydraulic cylinder is about 3kN, the
force supplied by the second hydraulic cylinder is about
3.15kN and the force supplied by the third hydraulic

Fig.6 The forced state of each intelligent leg

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cylinder is about 3.25kN. Fig.8 shown the force Fi

supplied by every hydraulic cylinder in second intelligent
leg during centering bolt hole. From Fig.8 , it can be seen

RELIABILITY OF MACHANISM KINEMATIC

The fuzzy allowable zone of the kinematic error of the
mechanism of the offshore wind turbine installation
equipment is defined based on fuzzy mathematical theory
[10]. Assuming that fuzzy allowable zone of the kinematic
error of the mechanism of the offshore wind turbine
installation equipment is A(e) A (e) / e ,which shown

in Fig.9. When the kinematic error of the mechanism of

the offshore wind turbine installation equipment meets
[e] e [e] , the membership grade is 1 and it means
allowable totally. When the kinematic error of the
mechanism of the offshore wind turbine installation
equipment meets e [e] or [e] e , the
membership grade is 0, which means unallowable totally.

A ( e)

(a) Force supplied by the first hydraulic cylinder

0
e
e e
e e
Fig. 9 The membership function of fuzzy allowable
zone of the error of the mechanism kinematic
When the kinematic error of the mechanism of the
offshore wind turbine installation equipment meets
[e] e [e] or [e] e [e] , the membership
grade is 01 and it means allowable to some extent. The
membership function of the fuzzy allowable zone of the
error of the mechanism kinematic can be expressed as:

(b) Force supplied by the second hydraulic cylinder

1 + e [e]

A ( e)

1 e [e]

-[e]- <e [e]

[e] e [ e]

(4)

[e] <e [e]

other

Supposed that the dimension error of the mechanism

belongs to normal distribution, so the addition of these
dimensions errors also belongs to normal distribution.
Considering the dimension errors of the mechanism, the
probability density function of the kinematic errors of the
mechanism can be given by
1
1 e e 2
(5)
f ( e)
exp[ (
) ]
2 e
e 2
According to fuzzy mathematical theory [10], the fuzzy
reliability of the kinematic accuracy of the mechanism of
the offshore wind turbine installation equipment can be
given by:

(c) Force supplied by the third hydraulic cylinder

Fig. 8 Force supplied by each hydraulic cylinder in the second
intelligent leg during centering bolt hole

that the three hydraulic cylinder can supply the force

smoothly during centering bolt hole, the force supplied by
the first hydraulic cylinder is about -110kN, the force
supplied by the second hydraulic cylinder is about -115kN
and the force supplied by the third hydraulic cylinder is
also about -115kN when the rotating angle of the upper
plateform is 1.5.
5

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R P(e A) f (e) A (e)de

2
1
1

{[ 2 ( 2 ) 1(1 )]
[exp( 2 )
2 1
2
2
exp(

12
2

[exp(

)]}

22

2 1

) exp(

{[ 2 ( 2 ) 1 ( 1 )]

fuzzy reliability of kinematic accuracy of the mechanism

of single branch in x-direction and y-direction can be
found. They are shown in Fig.11and Fig.12. From Fig.11
and Fig.12, it is understood that the reliability of the
kinematic accuracy of x-direction of the single branch of
the mechanism increases with the increment of the angle
of the hydraulic cylinder and is all greater than 0.9963,
and the reliability of the kinematic accuracy of y-direction
of the single branch of the mechanism decreases with the
increment of the angle of the hydraulic cylinder and is
greater than 0.9994. Fig.13 shows the reliability model of
the kinematic accuracy of the whole mechanism of the

1
2

12

)]}
(6)
2
[e] e
[e] e ,
[e] e
[e] e .
Where 1
,2
1
, 2
e
e
e
e
2

Supposed that Z L, is the designed kinematic

and Z L L, is real

regulity of the mechanism

kinematic regulity of of the mechanism, the kinematic

error of the mechanism can be given by
e Z Z L L, Z L,

(7)

Where L is vector of every rod.

At mean value point,Talor series expansion of e is given by
e Z L , Z L,
10

i 1

Z
li li
li

(8)

Therefore, the mean and deviation of the error can be

expressed as
Ee Z L , Z L, 0
2

Z
e li 2
i 1 li
10

li

li li

(9)
Fig.10 shows that the sketch of single branch of the
mechanism of the offshore wind turbine installation
equipment. The kinematic regulity of the end point can be
given by

Fig. 11 fuzzy reliability of direction x of single branch

xc S cos R cos 1
yc S sin R sin 1

(10)

Fig.10 Sketch of single branch

Fig. 12fuzzy reliability of direction y of single branch

According to Eq.7-Eq.10, ex , ey ,and their the

offshore wind turbine installation equipment. According to

Fig.13 and reliability theory[10], the reliability of the the

mean and deviation can be found. According to Eq.6, the

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leg, the force supplied by the first hydraulic cylinder is

about 3kN, the force supplied by the second hydraulic
cylinder is about 3.15kN and the the force supplied by
the third hydraulic cylinder is about 3.25kN for first step,
where the displacement of the upper plateform is 85mm.
3. The hydraulic cylinders can supply the force smoothly
during centering the bolt hole. For the second set of
intelligent leg, the force supplied by the first hydraulic
cylinder is about -110kN, the force supplied by the
second hydraulic cylinder is about -115kN and the force
supplied by the third hydraulic cylinder is about -115kN
when the rotating angle of the upper plateform is 1.5.
4. The reliability of the kinematic accuracy of x-direction
of the single branch of the mechanism increases with the
increment of the angle of the hydraulic cylinder and is
all greater than 0.9963, and the reliability of the
kinematic accuracy of y-direction decreases with the
increment of the angle of the hydraulic cylinder and is
greater than 0.9994.
5. The reliability of the kinematic accuracy of the whole
mechanism increases with the increment of
displacement of the end effector and is all greater than
0.99988.

kinematic accuracy of the whole mechanism can be given

by
3

i 1

i 1

Rw [1- (1- Rbxi1 )(1- Rbxi 2 )] [1- (1- Rbyi1 )(1- Rbyi 2 )]
3

[1- (1- Rbxi1 )(1- Rbxi 2 )] [1- (1- Rbyi1 )(1- Rbyi 2 )]
i 1

(11)
where Rw is the reliability of the kinematic accuracy of
the whole mechanism of the offshore wind turbine
installation equipment. Rbxij is the reliability of the
kinematic accuracy of x-direction of jth branch in ith
group. Rbyij is the reliability of the kinematic accuracy of
y-direction of jth branch in ith group. i=1,2,3 . j=1,2.

References
[1]Simon-Philippe Breton, Geir Moe: Status, plans and
technologies for offshore wind turbines in Europe and
North America. Renewable Energy, 34(3): 646-654,
2009.
[2] Zervos A and Kjaer C, wind energy scenarios up to
2030 European
Wind Energy Association
Report .www.ewea.org
[3]Massachussets
Technology
Collaborative.A
framework for offshore wind energy development in
the United States. Washington: U.S. Department of
Energy, General Electric; 2005.
[4] Zhang Song ,TAN Jiaohua: Introduction of offshore
wond
turbine
installation,
China
offshore
platform,Vol .24 No. 3 ,J une. ,2009.
[5]Sandy Butterfield ,Walt Musia,Jason Jonkman:
Engineering Challenges for Floating Offshore Wind
Turbines. NREL/CP-500-38776 September 2007
[6] Kotzev, A., et al. Generalized predictive control of a
robotic manipulator with hydraulic actuators.
Robotica, Vol.10(5), p.447, 2009.
[7]Zhao Yunfeng, Tan Yanhua, Zhao Yongsheng,
Analysis of 3-DOF Heavyload Positioner
Mechanism with Hybrid Structure, Proceeding of
Conference of Mechanical Engineering, 2007.
[8] S. Nokleby, R. Fisher, and R. Podhorodeskiet al.,
Force capabilities of redundantly-actuated parallel
manipulators. Mechanism and Machine Theory, Vol.
40(5), p. 578, 2005.
[9] J.E.Shigley, J.J.Uicker Jr., Theory of Machines and
Mechanism[M]. McGraw-Hill Book Company,1980.
[10] Dong Yuge, Mechanical Fuzzy Reliability Design,
Mechanical Industry Press, 2000.

Fig.13 reliability model of the whole mechanism

Fig.14 Fuzzy reliability of the whole mechanism

Fig.14 shows the fuzzy reliability of the kinematic

accuracy of the whole mechanism. The reliability of the
kinematic accuracy of the whole mechanism increases with
the increment of the displacement of the end effector and
is all greater than 0.99988, which meets the design
requirement.
Conclusions
1. A new type of the offshore wind turbine installation
equipment is mainly composed of moving upper
platform, fixed down platform and 6 sets of intelligent
legs. Each intelligent leg consists of two-UPS and oneUP .
2. The hydraulic cylinders can supply the force smoothly
during centering drum. For the second set of intelligent
7

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