摘要
在海洋环境中,海上浮动平台在波浪载荷的作用下会对平台上的仪器设备、工程人员等产生不利的影响,甚至引起安全事故。补偿装置可以有效地补偿波浪导致的海上浮动平台的不规则运动,确保设备和人员的安全与工作效率。本文对基于Stewart并联机构的运动补偿装置的平动运动补偿空间进行了研究。文中介绍了基于Stewart机构的运动补偿装置的工作原理和设计流程,对补偿装置进行了运动学分析,给出了计算Stewart平台补偿空间的边界空间搜索方法,对补偿装置的平动运动补偿空间进行了数值求解。本文对海上浮动平台运动补偿装置补偿空间的研究方法可以用于运动补偿装置的设计和分析。
The offshore floating platform can have adverse effect on instrument and engineers and cause safety accidents due to wave payload.The utilization of motion compensation device is able to compensate for the irregular motion of floating platform caused by waves efficiently and guarantee the safe and work efficiency of instrument and people.Based on motion compensation device with Stewart mechanism,this paper studied the translational motion compensation space of floating platform.In this paper,the working principle,design and motion for Stewart mechanism are presented.The computation condition and boundary space searching method for Stewart platform are introduced and the translational motion compensation space is calculated.The research of compensation space for Stewart mechanism can be used to guide the design and analysis of motion compensation system for offshore floating platform.
作者
常宗瑜
陈忠鑫
郑中强
杨玉虎
周显宜
何静文
CHANG Zong-Yu;CHEN Zhong-Xin;ZHENG Zhong-Qiang;YANG Yu-Hu;ZHOU Xian-Yi;HE Jing-Wen(College of Engineering,Ocean University of China,Qingdao 266100,China;Shandong Province Key Laboratory of Ocean Engineering,Qingdao 266100,China;Tianjin University,Tianjin 300072,China)
出处
《中国海洋大学学报（自然科学版）》
CAS
CSCD
北大核心
2019年第12期116-121,共6页
Periodical of Ocean University of China
基金
国家新世纪优秀人才支持计划项目(NCET-12-0500)
中央高校基本科研项目(201762012)资助~~
关键词
海上浮动平台
运动补偿装置
补偿空间
边界空间搜索法
offshore floating platform
motion compensation device
compensation space
boundary space search method
