船舶航行时会受到风、浪、涌等载荷的扰动产生多维摇荡运动，对船上人员与货物的安全转运构成严重威胁。为此，本文设计一种具有运动补偿功能的海上稳定廊桥。将该系统类比为3_UPU/PU并联机构和RRP串联机构串组成的串并混联机构，分别采用D-H参数法、欧拉角坐标转换法对两者进行正、逆运动学分析，并利用空间几何法推算海上稳定廊桥运动学方程。借助Matlab计算该模型的逆运动学方程，利用Adams验证该运动学建模的正确性，得到该模型各执行机构在其运动空间的位移、角度变化曲线图，为海上稳定廊桥的控制系统设计、动力学分析和轨迹规划等提供理论基础和依据。
The ship will produce multidimensional swaying montion due to the disturbance of wind,wave swell and other loads during the voyage. which poses a serious threat to the safe transfer of people and cargo on board. For this reason, this paper designs a offshore gangway with motion compensation function. The system is analogous to the series-parallel hybrid mechanism, and it is maximized and discretized into 3_UPU/PU parallel mechanism and RRP series mechanism. The DH parameter method and Euler angle coordinate conversion method are used to analyze the inverse kinematics of the two respectively. And use the spatial geometry method to calculate the kinematics equation of theoffshore gangway. Calculate the inverse kinematics equations of the model with the help of Matlab, use Adams to verify the correctness of the kinematics modeling, obtain the displacement and angle change curves of each actuator of the model in its motion space, and design the control system for the offshore gangway, dynamic analysis and trajectory planning provide theoretical basis and basis.
2023,45(1): 78-82 收稿日期：2021-11-19
DOI：10.3404/j.issn.1672-7649.2023.01.014
分类号：U664.4+3
基金项目：国家自然科学基金资助项目(51579026, 51779026)；国家重点研发计划项目(2018YFC0309003)；中央高校基本科研业务费专项资金项目(3132019368)
作者简介：邱建超(1997-),男,硕士研究生,研究方向为船舶智能减摇、海上稳定廊桥
