A Novel Three-SPR Parallel Platform for Vessel Wave Compensation

Journal of Marine Science and Engineering

Yong Zhan¹  Huichun Tian¹  Junsheng Fu¹  Shaofei Wu¹  Jianan Xu¹ 

[1] College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, China;

关键词: wave compensation platform;    3-SPR parallel platform;    3-RPS parallel platform;    structure optimization;    workspace analysis;    level 4 sea state;   

DOI  :  10.3390/jmse8121013

来源: DOAJ

【 摘 要 】

A wave compensation platform based on 3-SPR parallel platform is designed for marine ships with a dynamic positioning system. It can compensate for the heave, rolling, and pitching movement of a vessel under level 4 sea state. The forward kinematics of the mechanism is used to draw the central point position workspace and the attitude workspace of the moving deck of the compensation platform. The compensation effects of the 3-RPS parallel compensation platform and the 3-SPR parallel compensation platform are compared, and the feasibility and superiority of the compensation scheme using the 3-SPR parallel compensation platform are proved. To lower the working height of the upper deck of the compensation platform and reduce the extension range of the support legs, the structure of the compensation platform is optimized, and a novel 3-SPR parallel platform is designed. Finally, a simulation model was established. Using the inverse kinematic model as a compensation movement solver which can online calculate the length of branch legs based on the measured heaving, rolling, and pitching values of vessels, the compensation effect of the new structure under a certain sea state is simulated. The result demonstrated the efficiency of the ship motion decoupling movement of the newly designed compensation platform and proved the competence of it.

【 授权许可】

Unknown