波浪补偿舷梯运动学与动力学分析

Kinematics and Dynamics Analysis of Wave Compensation Gangway

为了分析波浪补偿舷梯的运动学和动力学,在运动学中,用三自由度的舷梯作为参考,其机械臂为串联机构,运动学的建模以D-H参数法为核心方法,对运动学进行正向求解和反向求解。使用Matlab中的机器人组件Robotics Toolbox建立模型,对舷梯的运动范围进行验证。动力学采用牛顿-欧拉法对其力与力矩求解,用迭代法对舷梯补偿运动中俯仰关节和伸缩关节产生的力和力矩进行动力学分析。

In order to analyze the kinematics and dynamics of the wave compensation gangway,in the kinematics,the three-degree-of-freedom gangway is used as a reference,and the mechanical arm is a series mechanism.The kinematics modeling takes the D-H parameter method as the core method to solve the kinematics forward and backward.The robot component Robotics Toolbox in Matlab is used to establish a model to verify the motion range of the gangway.The Newton-Euler method is used to solve the force and moment in dynamics,and the iterative method is used to analyze the force and moment generated by the pitching joint and expansion joint in the compensated motion of the gangway.