Six-degree-of-freedom parallel mechanism for motion compensation

Abstract

The invention discloses a six-degree-of-freedom parallel mechanism for motion compensation. The mechanism comprises a frame, driving actuation assemblies and a motion compensation device; the frame comprises a frame I and a frame II; a frame support plate is mounted on the frame I; four mounting rails are arranged on the frame II; six sets of driving actuation assemblies are provided, and are fixedly mounted on the frame support plate of the frame I and the mounting rails of the frame II; the motion compensation device comprises connecting rods, an I-shaped steel plate and an upper platform inan isosceles trapezoid shape; the two ends of the lower bottom edge of the upper platform and four end parts of the I-shaped steel plate are welded with spherical hinge bases; and one ends of the connecting rods are mounted on the spherical hinge bases through spherical hinges, and the other ends of the connecting rods are connected with the driving actuation assemblies through universal joints.The mechanism is simple in control and stable in performance, can be widely applied to motion compensation of marine platforms, ships and the like, and effectively guarantees normal work of staff andinstruments in complicated marine environments.

Description

technical field [0001] The invention belongs to the technical field of offshore platform device manufacturing, and in particular relates to a six-degree-of-freedom parallel mechanism for motion compensation. Background technique [0002] The current energy development has entered the era of the deep sea. The deep sea is the future energy base of mankind and the frontier of technological innovation. The manufacture of high-end ocean engineering equipment for deep and open seas has become the focus of technological competition among countries around the world. The exploitation of deep ocean oil and gas resources relies on various floating platforms such as semi-submersible platforms, SPARs, and FPSOs. Under the action of waves and other loads, they will produce complex coupling motions with six degrees of freedom. In order to maintain the position and attitude of floating platforms, usually adopt Mooring systems or dynamic positioning technology. Nevertheless, the floating pl...

AI Technical Summary

Problems solved by technology

At present, the motion compensation device mainly adopts the compensation mechanism with few degrees of freedom, but the parallel mechanism with few degrees of freedom has fewer compensation degrees of freedom, which is not conducive to the application of motion compensation devices. Therefore, in order to overcome the Due to the lack of compensation devices, it is urgent to design a six-degree-of-freedom parallel mechanism that can meet the motion compensation requirements of floating offshore platform devices

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