Yoke plate assembly, mooring device with yoke plate assembly, floating object moored to the mooring device, manufacturing method of yoke plate assembly and use of yoke plate assembly

Abstract

A yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines includes an assembly plate for mechanically coupling to an anchor body, an elongated yoke plate having a center pivotally connected to the assembly plate by an articulation joint, a first lever arm having a first proximal end connected by a first coupler to a first end of the elongated yoke plate, and a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end, the first lever arm at its first distal end connectable to one of the pair of mooring lines by a first distal joint and the second lever arm at its second distal end connectable to the other of the pair of mooring lines by a second distal joint.

Description

[Technical field]

[0001] The present invention relates to a yoke plate assembly for mooring a floating object in a body of water. The present invention also relates to a mooring device comprising such a yoke plate assembly. Additionally, the present invention also relates to a floating object moored by such a mooring device. [Background technology]

[0002] U.S. Patent No. 6,688,250 (Seahorse Equipment Corporation) discloses a floating platform for recovering oil and gas from offshore oil and gas fields that supports one or more decks above the water surface for housing equipment for drilling and processing the oil, gas, and water recovered from the fields. The platform includes a central column having a portion substantially below the water surface and including a portion extending above the water surface. The central column includes a base node and a plurality of pontoons extending outwardly therefrom and is secured to the seabed by one or more tendons secured to the pontoons and the seabed. Summary of the Invention

[0003] The object is achieved by a yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines, comprising an assembly plate for mechanically coupling to an anchor body, an elongated yoke plate having a centre pivotally connected to the assembly plate by an articulation joint, a first lever arm having a first proximal end connected by a first coupler to a first end of the elongated yoke plate, and a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite to the first end, wherein the first lever arm at its first distal end is connectable to one of the pair of mooring lines by a first distal joint and the second lever arm at its second distal end is connectable to the other of the pair of mooring lines by a second distal joint.

[0004] Advantageously, the yoke plate assembly according to the invention makes it possible to achieve an improved load distribution between two mooring lines, each connected at the respective end of the elongated yoke plate. The yoke plate assembly makes it possible to distribute the tensile forces evenly between the two mooring lines, thus dividing the ultimate load by a factor of two and the fatigue damage by a factor of eight. In addition, the yoke plate assembly according to the invention provides that the difference in line length between the two mooring lines, either due to differences in construction or due to differences in the installation process, is compensated. When this is a fundamental requirement for the mooring system to function properly, the presence of the yoke plate assembly makes it possible to use conventional mooring components in the application, without the use of, for example, expensive TLP tendon connectors.

[0005] The application of the coupler as a unijoint advantageously allows each mooring line connection to articulate in two perpendicular planes, which can significantly reduce out-of-plane bending fatigue when mooring chains are used.

[0006] In an embodiment, the above-mentioned yoke plate assembly is arranged with an articulation joint selected from the group consisting of a one-axis joint, a two-axis joint, a gimbal joint, and a revolute joint. Advantageously, the articulation joint provides that the elongated yoke plate can be tilted due to different tensions on each of the mooring lines that can be attached to the elongated yoke plate, thereby suppressing large force moments at the connection of the mooring lines on the elongated yoke plate.

[0007] In an embodiment, the present invention provides a yoke plate assembly as described above, wherein a first lever arm at a first distal end thereof is connectable to one of a pair of mooring lines by a first distal joint and a second lever arm at a second distal end thereof is connectable to the other of the pair of mooring lines by a second distal joint.

[0008] In an embodiment, the present invention provides a yoke plate assembly as described above, wherein the first and second couplers are unijoints having coplanar axes.

[0009] Advantageously, using a unijoint with a coplanar axis avoids creating artificial moment loads by eliminating local lever arms between the articulation joints.

[0010] In an embodiment, the present invention provides a yoke plate assembly as described above, wherein the first and second lever arms each include a rod for forming a releasable coupling therebetween and a socket for receiving the rod, wherein each socket is connected to a respective coupler on the first end of the elongated yoke plate and the second end of the elongated yoke plate, respectively. The use of sockets coupled to the yoke plate and matching rods at the proximal ends of the mooring lines allows for a relatively simpler connect / disconnect scheme.

[0011] In an embodiment, the present invention provides a yoke plate assembly as described above, wherein the joint between the first coupler and the first end of the elongated yoke plate and the first distal joint form a first elongated uni-joint, and the joint between the second coupler and the second end of the elongated yoke plate and the second distal joint form a second elongated uni-joint. The application of the couplers in combination with the lever arms as elongated uni-joints advantageously improves articulation in two planes for each mooring line to reduce out-of-plane bending fatigue.

[0012] In an embodiment, the present invention provides a yoke plate assembly as described above, further comprising a stopper mechanism for limiting the tilt angle of the elongated yoke plate relative to a surface plane of the assembly plate to a predetermined maximum angle value.

[0013] The stop mechanism advantageously protects the yoke plate assembly from mechanical damage in the event that one of the pair of mooring lines disconnects and all tension is transferred to the yoke plate's connection with the other mooring line.

[0014] In addition, the present invention relates to a mooring device for mooring a floating object in a body of water by at least a pair of mooring lines attached to the floating object as described in claim 9, a floating object floating in a body of water and moored to the bottom of the body of water by a mooring device as described in claim 11, and a method for manufacturing a yoke plate assembly as described in claim 14.

[0015] The invention is explained in more detail below with reference to the drawings, in which exemplary embodiments thereof are shown. [Brief description of the drawings]

[0016] [Figure 1] 1 illustrates a cross-sectional view of a yoke plate assembly according to an embodiment of the present invention. [Figure 2A] FIG. 2 illustrates a perspective view of a yoke plate assembly according to an embodiment of the present invention. [Figure 2B] FIG. 2 illustrates a perspective view of a yoke plate assembly according to an embodiment of the present invention. [Figure 3A] FIG. 2 illustrates a side view of a yoke plate and associated articulation joint in accordance with an embodiment of the present invention. [Figure 3B] FIG. 2 illustrates a side view of a yoke plate and associated articulation joint in accordance with an embodiment of the present invention. [Figure 3C] FIG. 2 illustrates a side view of a yoke plate and associated articulation joint in accordance with an embodiment of the present invention. [Figure 3D] FIG. 2 illustrates a side view of a yoke plate and associated articulation joint in accordance with an embodiment of the present invention. [Figure 4] FIG. 2 illustrates a side view of a yoke plate assembly according to an embodiment of the present invention. [Diagram 5] FIG. 2 illustrates a side view of a yoke plate assembly according to an embodiment of the present invention. [Figure 6]13 shows a perspective view of a yoke plate assembly according to a further embodiment of the present invention. [Figure 7] 1 shows a schematic diagram of a mooring device comprising a float and a yoke plate assembly according to an embodiment of the present invention. [Figure 8] 1 shows a schematic diagram of a floating object moored by a mooring device comprising a yoke plate assembly according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The present invention will be described with respect to particular embodiments and with reference to certain drawings, but the present invention is not limited thereto. The drawings described are only schematic and are non-limiting. In the drawings, the size of some of the elements may be exaggerated and not drawn to scale for illustrative purposes.

[0018] FIG. 1 shows a cross-sectional view of a yoke plate assembly according to an embodiment of the present invention.

[0019] As shown therein, the yoke plate assembly 100 is disposed on an anchor body 1 which is located on the seabed 3. The yoke plate assembly 100 is further coupled to a pair of mooring lines or chains 5a, 5b which are attached to a floating object (not shown).

[0020] The yoke plate assembly 100 includes an assembly plate 10, a yoke plate 15, an articulation joint 20, first and second lever arms 25a, 25b, first and second couplers 30a, 30b, and first and second links 35a, 35b.

[0021] The yoke plate 15 consists of an elongated beam having a central articulation joint 20 connected to the assembly plate 10. The central articulation joint 20 comprises a central axis 16 about which the yoke plate 15 can rotate to balance the forces exerted on each of the mooring lines.

[0022] A cylindrical opening is disposed in each beam end 17. The cylindrical openings are configured to hold an axis of rotation 18 that is parallel to the central axis 16. Each axis of rotation 18 is configured to provide a pivot connection to the proximal end of one of the first and second lever arms 25a, 25b, respectively.

[0023] Finally, each of the first and second lever arms 25a, 25b is mechanically coupled to one of the mooring lines 5a, 5b.

[0024] Advantageously, the yoke plate assembly 100 improves load distribution between the pair of mooring lines 5a, 5b. The difference in tension between the mooring lines can be accommodated by rotation about the central axis 16. Also, the difference in length of the mooring lines 5a, 5b can be compensated for by rotation of the yoke plate.

[0025] According to an embodiment, the connection between the distal end of the lever arm and the associated mooring line is by a first pivot axis 19. The connection at the proximal end of the lever arm comprises a second pivot axis 21. By configuring the second pivot axis 21 in each lever arm to be perpendicular to the rotation axis 18, an extended uni-joint 36a, 36b is formed. Advantageously, using a setup with extended uni-joints provides restraint of out-of-plane bending of the mooring chain during mooring by allowing vertical rotation about the first pivot axis 19 and the associated rotation axis 18.

[0026] 2A shows a perspective view of a yoke plate assembly according to an embodiment of the present invention. In the yoke plate assembly, a yoke plate 15 is disposed parallel between two guide plates 11 that extend upward from the surface plane of an assembly plate 10.

[0027] The assembly plate 10 rests on the anchor body 1. According to the present invention, the anchor body can be any subsea anchor type as understood by a person skilled in the art, including but not limited to gravity anchors, suction piles, driven piles, and hybrid anchors (i.e., a mixed structure of gravity anchors and suction piles).

[0028] According to the embodiment, the plane of the yoke plate is under the inclination angle α with respect to the vertical line towards the floating object, so that the plane of the yoke plate is aligned with the inclination of the mooring line, thus reducing the moment of force in the equilibrium position, as shown in FIG.

[0029] 3A-3D show side views of a yoke plate 15 and associated articulation joint 20 according to an embodiment of the present invention. In accordance with the present invention, the articulation joint 20 is configured to provide at least rotation of the yoke plate relative to the surface plane 12 of the assembly plate along a central axis 16 that is parallel to the axis of rotation 18 of the connection at the beam end 17 of the yoke plate.

[0030] In FIG. 3A, a yoke plate assembly 100 is shown in which the articulation joint 20 is configured with a central axis 16 perpendicular to the length of the yoke plate and parallel to the surface plane 12 of the assembly plate, and a connection at a beam end 17 of the yoke plate with an axis of rotation 18 parallel to the central axis.

[0031] In Fig. 3B, a yoke plate assembly 100 is shown in which the articulation joint 20 comprises a central axis 16 as described above with reference to Fig. 3A and a second central axis 16a extending substantially perpendicular to the central axis and parallel to the surface plane 12 of the assembly plate. In this embodiment, the articulation joint 20 allows the yoke plate to be tilted by rotation about the second central axis 16a. As a result, the yoke plate assembly is able to suppress large moments at the mooring line connections at the beam ends 17 of the yoke plate 15.

[0032] In FIG. 3C, a yoke plate assembly 100 is shown in which the articulation joint 20 has a gimbal arrangement to enable the yoke plate 15 to change its orientation relative to the surface plane 12 and align with the (changing) direction of the mooring lines or chains 5a, 5b.

[0033] In FIG. 3D, a yoke plate assembly 100 is shown in which the articulation joint 20 includes a rotational joint to allow the yoke plate 15 to change its orientation relative to the surface plane 12 and align with the (changing) direction of the mooring lines.

[0034] FIG. 4 illustrates a side view of a yoke plate assembly according to an embodiment of the present invention.

[0035] In this embodiment, the yoke plate assembly comprises first and second couplers 30a, 30b each embodied as a uni-joint with a coplanar axis 16c, i.e. as a pair of axes (i.e. gimbals) perpendicular to each other and rotating in the same plane. In such a uni-joint, two coplanar articulation joints are integrated into each beam end 17 of the yoke plate 15 and connected to the lever arms 25a, 25b. During its service life, this uni-joint configuration can protect the mooring chain attached to the lever arms from damage due to out-of-plane bending.

[0036] FIG. 5 shows a side view of a yoke plate assembly according to an embodiment of the present invention. In this embodiment, the yoke plate assembly 100 includes first and second couplers 30a, 30b, each embodied as a uni-joint having a coplanar axis 16c, as described above with reference to FIG. 4. Additionally, the lever arms 25a, 25b include a rod 26 and a socket 27. The rod 26 is configured to be at the proximal end 6 of the mooring line. The socket 27 is coupled to the uni-joints 30a, 30b and is capable of receiving a head 28 of the rod 26. For example, the socket 27 includes a reverse ratchet system 29 for ensuring that the head 28 of the rod is fixed in the socket 27. From this, a connectable connection is formed between the head 28 of the rod 26 and the socket 27. In each of the uni-joints, the socket 27 is connected to a respective coupler 30a, 30b on a corresponding beam end 17 of the elongated yoke plate 15. The connectable coupling simplifies the operation of the subsea connection of the mooring lines to and from the yoke plate assembly.

[0037] 6 shows a perspective view of a yoke plate assembly 100 according to a further embodiment of the present invention. In this embodiment, the yoke plate assembly 100 described in relation to the previous figures includes a stop mechanism 40 that limits the maximum tilt of the yoke plate when the difference in tension between the mooring lines is large.

[0038] As shown in Figure 6, the stop mechanism 40 consists of two elongated slots 42 and two associated round slider pins 44. Each elongated slot 42 is disposed in at least one of the parallel guide plates 11 at a location corresponding to the location where one of the associated slider pins 44 is mounted on the yoke plate 15. Each of the slider pins 44 extends perpendicularly from the yoke plate 15 to the guide plates 11 and is inserted into the associated elongated slot 42. Rotation of the yoke plate 15 about the central axis 16 is limited by the length 42b of the elongated slot along which the slider pin may travel.

[0039] An alternative stop mechanism (not shown here) may be formed by a pair of stop chains or ropes coupled between the assembly plate 10 and each beam end 17 of the yoke plate. The length of each stop chain or rope limits the maximum rotation angle that the yoke plate 15 can reach.

[0040] FIG. 7 shows a schematic diagram of a mooring device comprising a float 50 and a yoke plate assembly 100 according to an embodiment of the present invention.

[0041] The mooring device includes a float 50 on which a pair of mooring points 72 are arranged. Each of the mooring points 72 is configured to connect to a mooring line 73, 74, where one mooring point connects to a proximal end 75 of the first mooring line 73 and the other mooring point connects to a proximal end 76 of the second mooring line 74. The first and second mooring lines 73, 74 form a pair of mooring lines that connect at their respective distal ends 77, 78 to respective beam ends 17 of the yoke plate 15. Thus, the first and second mooring lines run parallel between the float 50 and the yoke plate assembly 100. In this way, a tension leg with two parallel mooring lines 73, 74 can be formed.

[0042] According to a further embodiment, each of the first and second mooring lines 73, 74 comprises a proximal chain portion 80, a steel wire rope portion 81 and a distal chain portion 82, where one end of the proximal chain portion 80 is connected to one end of the steel wire rope portion 81 and the other end of the steel wire rope portion 81 is connected to one end of the distal chain portion 82. The other end of the proximal chain portion 80 is connected to a mooring point on the crossbar by a chain connector 83.

[0043] The other end of the distal chain portion 82 is coupled to the distal ends of the lever arms 25 a , 25 b of the corresponding beam end 17 of the yoke plate 15 in the yoke plate assembly 100 .

[0044] FIG. 8 shows a schematic diagram of a floating object 50, 90 moored by a mooring device 60 comprising a yoke plate assembly 100 according to an embodiment of the present invention.

[0045] A floating object 50, 90 floating on the sea 2 is connected at each of its mooring points 51 to an associated yoke plate assembly 100. At each mooring point 51, the floating object 50, 90 is connected to a corresponding beam end 17 of a yoke plate 15 of the yoke plate assembly 100 by a pair of mooring lines or chains 5a, 5b. The mooring lines may be constructed in the same manner as described above with reference to FIG. 7.

[0046] Each yoke plate assembly is attached by its assembly plate 10 to a corresponding anchor body 1 located on the seabed 3 .

[0047] The floating object 50, 90 can be arranged as a Tension Leg Platform (TLP) or can have a TLP configuration by tensioning the mooring chains 5a, 5b between the mooring point 51 and the anchor body 1. The yoke plate assembly according to the invention allows conventional mooring components such as mooring chains to be used. Advantageously, the mooring device according to the invention can significantly reduce costs compared to conventional TLPs that require custom and expensive tendon connectors to balance the loads between the tendons.

[0048] In an embodiment, the float 50, 90 comprises a structure with a wind turbine mounted on a floating frame equipped with buoyancy tanks provided with mooring points.

[0049] The present invention has been described with reference to several embodiments. Obvious modifications and alterations will occur to those skilled in the art upon reading and understanding the above detailed description. It is intended that the present invention be construed as including all such modifications and alterations insofar as they come within the scope of the appended claims. The following is a summary of the claims originally filed in this application. [1] A yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines, comprising: an assembly plate for mechanically coupling to the anchor body; an elongated yoke plate having a center pivotally connected to said assembly plate by an articulation joint; a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; the first lever arm at a first distal end thereof is connectable to one of the pair of mooring lines by a first distal joint; The second lever arm at its second distal end is connectable to the other of the pair of mooring lines by a second distal joint, a yoke plate assembly. [2] the first coupler is disposed as a first uni-joint between the first end of the elongated yoke plate and the first lever arm; The yoke plate assembly of [1], wherein the second coupler is disposed as a second uni-joint between the second end of the elongated yoke plate and the second lever arm. [3] The yoke plate assembly described in [1] or [2], wherein the articulated joint is selected from the group consisting of a one-axis joint, a two-axis joint, a gimbal joint, and a rotary joint. [4] The yoke plate assembly of any one of [1] to [3], wherein each of the first and second couplers is a uni-joint having an axis on the same plane. [5] A yoke plate assembly as described in [4], wherein the first and second lever arms each have a rod to form a releasable connection therebetween and a socket portion for receiving the rod, wherein each socket is respectively connected to a respective coupler on the first end of the elongated yoke plate and the second end of the elongated yoke plate. [6] The yoke plate assembly described in [3], wherein the joint between the first coupler and the first end of the elongated yoke plate and the first distal joint form a first elongated uni-joint, and the joint between the second coupler and the second end of the elongated yoke plate and the second distal joint form a second elongated uni-joint. [7] A yoke plate assembly described in any one of [1] to [6], further comprising a stopper mechanism for limiting the inclination angle of the elongated yoke plate relative to the surface plane of the assembly plate to a predetermined maximum angle value. [8] The yoke plate assembly is preferably configured with the yoke plate set at an inclination angle that is not substantially perpendicular to the floating object such that the articulation joint is inclined and the yoke plate is aligned with the inclination of the mooring line. The yoke plate assembly is described in any one of [1] to [7]. [9] A mooring device for mooring a floating object in a water body by at least a pair of mooring lines attached to the floating object, the mooring device comprising an anchor body, a yoke plate assembly, and the pair of mooring lines; The yoke plate assembly includes an assembly plate for mechanically coupling to the anchor body, an elongated yoke plate having a center pivotally connected to the assembly plate by an articulation joint; a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; the first coupler is disposed as a first uni-joint between the first end of the elongated yoke plate and the first lever arm, and the second coupler is disposed as a second uni-joint between the second end of the elongated yoke plate and the second lever arm; A mooring device, wherein during mooring, the first lever arm at its first distal end is connected to one of the pair of mooring lines by a first distal joint and the second lever arm at its second distal end is connected to the other of the pair of mooring lines by a second distal joint, and the yoke plate assembly is connected to the anchor body, and the anchor body is positioned on the bottom of the body of water.

[10] A mooring device as described in [9], wherein, during use, each of the mooring lines is tensioned and taut.

[11] A floating object floating in a body of water and moored to the bottom of the body of water by a mooring device comprising an anchor body, a yoke plate assembly, and a pair of mooring lines, The yoke plate assembly includes an assembly plate for mechanically coupling to the anchor body, an elongated yoke plate having a center pivotally connected to the assembly plate by an articulation joint; a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; the first coupler is disposed as a first uni-joint between the first end of the elongated yoke plate and the first lever arm; the second coupler is disposed as a second unijoint between the second end of the elongated yoke plate and the second lever arm; the first lever arm at a first distal end thereof is connected to one of the pair of mooring lines by a first distal joint; the second lever arm at a second distal end thereof is connected to the other of the pair of mooring lines by a second distal joint; the yoke plate assembly is connected to the anchor body; the anchor body is disposed on the bottom of the body of water; A floating object, wherein the pair of mooring lines are each attached to the floating object.

[12] Each of the mooring lines is tensioned and taut; The floating object described in

[11] is at least partially submerged by the mooring lines under tension relative to the height of the floating object when it is freely floating.

[13] The floating object described in

[11] or

[12] , wherein the floating object is a tension leg platform (TLP) floating support structure, and the pair of mooring lines form tension legs of the floating support structure.

[14] A method of manufacturing a yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines, comprising: providing an assembly plate for mechanically coupling to the anchor body; providing an elongated yoke plate having a pivot center; pivotally connecting the elongated yoke plate to the assembly plate by an articulation joint; providing a first lever arm and connecting a first proximal end thereof to a first end of the elongated yoke plate by a first coupler; providing a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; a connector is disposed on the first lever arm at a first distal end thereof and connectable to one of the pair of mooring lines by a first distal joint; The second lever arm at its second distal end has a second connector disposed thereon connectable to the other of the pair of mooring lines by a second distal joint.

[15] Use of a yoke plate assembly described in any one of [1] to [8].

Claims

1. 1. A yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines, comprising: an assembly plate configured to be mechanically coupled to an anchor body; an elongated yoke plate having a center pivotally connected to said assembly plate by an articulation joint; a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; the first lever arm at a first distal end thereof is connectable to one of the pair of mooring lines by a first distal joint; The second lever arm at a second distal end thereof is connectable to the other of the pair of mooring lines by a second distal joint.

2. the first coupler is disposed as a first unijoint between the first end of the elongated yoke plate and the first lever arm; The yoke plate assembly of claim 1 , wherein the second coupler is disposed as a second unijoint between the second end of the elongated yoke plate and the second lever arm.

3. 3. The yoke plate assembly of claim 1 or 2, wherein the articulation joint is selected from the group consisting of a single axis joint, a two axis joint, a gimbal joint, and a revolute joint.

4. The yoke plate assembly of any one of claims 1 to 3, wherein each of the first and second couplers is a unijoint having a coplanar axis.

5. 5. The yoke plate assembly of claim 4, wherein the first and second lever arms each include a rod for forming a releasable connection therebetween and a socket for receiving the rod, wherein each socket is respectively connected to a respective coupler on the first end of the elongated yoke plate and the second end of the elongated yoke plate.

6. 4. The yoke plate assembly of claim 3, wherein a joint between the first coupler and the first end of the elongated yoke plate and the first distal joint form a first elongated uni-joint, and a joint between the second coupler and the second end of the elongated yoke plate and the second distal joint form a second elongated uni-joint.

7. The yoke plate assembly according to any one of claims 1 to 6, further comprising a stopper mechanism for limiting the inclination angle of the elongated yoke plate relative to a surface plane of the assembly plate to a predetermined maximum angle value.

8. The yoke plate assembly of any one of claims 1 to 7, wherein the yoke plate assembly is configured with the yoke plate set at a non-perpendicular inclination angle to the floating object such that the articulation joint is inclined and the yoke plate is aligned with the inclination of the mooring line.

9. A mooring device for mooring a floating object in a water body by at least a pair of mooring lines attached to the floating object, the mooring device comprising an anchor body, a yoke plate assembly, and the pair of mooring lines; The yoke plate assembly includes an assembly plate configured to be mechanically coupled to the anchor body; an elongated yoke plate having a center pivotally connected to the assembly plate by an articulation joint; a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; the first coupler is disposed as a first uni-joint between the first end of the elongated yoke plate and the first lever arm, and the second coupler is disposed as a second uni-joint between the second end of the elongated yoke plate and the second lever arm; A mooring device, wherein during mooring, the first lever arm at its first distal end is connected to one of the pair of mooring lines by a first distal joint and the second lever arm at its second distal end is connected to the other of the pair of mooring lines by a second distal joint, and the yoke plate assembly is connected to the anchor body, and the anchor body is positioned on the bottom of the body of water.

10. 10. A mooring arrangement as claimed in claim 9, wherein, in use, each of the mooring lines is under tension.

11. 11. A mooring arrangement as claimed in claim 9 or 10, wherein the floating object is a tension leg platform (TLP) floating support structure and the pair of mooring lines form tension legs of the floating support structure.

12. 1. A method of manufacturing a yoke plate assembly for mooring a floating object in a body of water by a pair of mooring lines, comprising: providing an assembly plate configured to be mechanically coupled to the anchor body; providing an elongated yoke plate having a pivot center; pivotally connecting the elongated yoke plate to the assembly plate by an articulation joint; providing a first lever arm having a first proximal end connected to a first end of the elongated yoke plate by a first coupler; providing a second lever arm having a second proximal end connected by a second coupler to a second end of the elongated yoke plate longitudinally opposite the first end; a connector is disposed on the first lever arm at a first distal end thereof and connectable to one of the pair of mooring lines by a first distal joint; The second lever arm at its second distal end has a second connector disposed thereon connectable to the other of the pair of mooring lines by a second distal joint.

13. Use of a yoke plate assembly according to any one of claims 1 to 8.

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