Parallel serial embarkation mechanism motion planning method based on sea wave active compensation

An active compensation and hybrid technology, applied in transportation and packaging, passenger processing equipment, ships, etc., can solve problems such as slow calculation speed and inability to guarantee all solutions

Active Publication Date: 2019-07-19
青岛哈船智能海洋装备技术有限公司
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Problems solved by technology

Bi Shusheng et al. proposed a novel series-parallel mechanism for micro-operation, and used the method of vector calculation to solve the forward and inverse kinematics of the

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  • Parallel serial embarkation mechanism motion planning method based on sea wave active compensation
  • Parallel serial embarkation mechanism motion planning method based on sea wave active compensation
  • Parallel serial embarkation mechanism motion planning method based on sea wave active compensation

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Embodiment Construction

[0096] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0097] The boarding system mentioned in the present invention is an active sea wave compensation system, which is composed of a six-degree-of-freedom parallel platform and a three-degree-of-freedom series gangway. By controlling the movement of each joint of the nine-degree-of-freedom hybrid mechanism, the wind and waves will affect the operation and maintenance of the ship. The adverse effect produced ensures that the end of the compensation mechanism remains stable under the interference of sea waves, thereby realizing active compensation for sea waves. Knowing the attitude and displacement of the operation and maintenance ship affected by the waves, the kinematic analysis of the hybrid mechanism is performed to obtain the movement of each part of the mechanism, so as to realize active wave compensation and ensure that the end of the hybrid...

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Abstract

The invention discloses a parallel serial embarkation mechanism motion planning method based on sea wave active compensation. According to the parallel serial embarkation mechanism motion planning method, the structure of a parallel serial embarkation system is analyzed and decomposed, thus a six-degree-of-freedom parallel platform and a three-degree-of-freedom serial gangway ladder kinematic module are established, motion quantity distribution is conducted on two subsystems through a jacobian matrix pseudo-inverse technique, present mission situation and constrained situation of the subsystems are combined, motion quantity of the system is optimized by using a gradient projection method, and the situation of singularity postures of the system is avoided. According to the parallel serial embarkation mechanism motion planning method, the kinematics multi-solution problem of degree-of-freedom redundancy of a parallel serial mechanism is effectively solved, meanwhile, factors such as joint spacing and the mechanism singularity postures are comprehensively considered, space motion distribution of the parallel serial mechanism is optimized to great extent, input parameters are providedfor control of the parallel serial embarkation system, and demands of operation and maintenance under actual working situation are met.

Description

technical field [0001] The invention provides a motion planning method for a hybrid boarding mechanism, in particular a motion planning method for a hybrid boarding mechanism based on ocean wave active compensation, an active ocean wave compensation analysis method based on multi-task motion planning, marine engineering technology field. Background technique [0002] The high pollution and high emissions of traditional energy have caused irreversible damage to the environment. This grim situation has made people pay more attention to the development and use of clean energy and green energy. Marine resources are rich in reserves, not only containing a large amount of traditional energy such as oil and natural gas, but also rich in renewable energy. Wind power generation is one of the fields with the most mature technology, the most development conditions and the most development prospects in the development of renewable energy. [0003] However, there are many problems in t...

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Application Information

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IPC IPC(8): B63B27/14B63B27/00
CPCB63B27/00B63B27/14
Inventor 魏延辉田晨光刘静郑志杨鹏飞牛佳乐李强强刘东东
Owner 青岛哈船智能海洋装备技术有限公司
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