Objectives  Articulated multiple floating structures are not only subject to wave excitation forces, but also to other nonlinear loads such as connection forces, mooring forces and diffraction forces between floats, making it challenging to predict their motion.

Methods This paper uses hydrodynamic analysis software AQWA to establish a numerical motion model for multiple floating structures under mooring and articulated conditions. A comparative study is conducted on a moored single floating box to validate the numerical method. The motion response and mooring tension of the double floating box system is then explored under wave loads. Finally, the motion laws of articulated multiple floating systems are summarized and analyzed.

Results When the length of the connecting components is too short, the hydrodynamic interference between the two floating boxes is severe. Both the heave and roll motions of the floating boxes gradually decrease as the stiffness of the connecting components increases. Even a small increase in stiffness causes a sharp reduction in the roll motion of the floating box. However, the roll angle stabilizes at a certain value and does not change further with an increase in stiffness. Mooring tension is contrary to the motion response of the floating boxes.

Conclusions The discovery of the motion characteristics of articulated multiple floating structures under mooring conditions can provide useful references for the design of multiple floating structures in marine environments.