浙江大学学报(工学版)  2021, Vol. 55 Issue (5): 810-822    DOI: 10.3785/j.issn.1008-973X.2021.05.002
 机械工程

Design and modeling of wire-driven rigid-flexible parallel mechanism for wave compensation
Yuan CHEN(),Deng-hui GUO,Li-xia TIAN
School of Mechanical and Electrical Engineering, Shan Dong University, Weihai 264209, China
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Abstract:

A rigid-flexible hybrid drive active parallel mechanism for wave compensation was proposed in order to reduce the damage caused by wind and waves in the transport of container goods at sea. The mathematical model of positional inverse solution was established based on the matrix rotation principle and the geometric closure method of the dynamic platform of rigid-flexible hybrid parallel mechanism. The mathematical model of the positional forward solution was constructed by using spatial geometry. The second order effect matrix of acceleration and velocity Jacobian was established by using the derivation rule to obtain the positional inverse solution. The system stiffness matrix was derived on the basis that the rope is a flexible variable body, and the factors affecting the system stiffness and the principle of increasing the system stiffness were explored. In addition, the kinematics and system stiffness values were verified by numerical simulation, and the input and output data errors of the inverse and positive solutions were not more than 2.25% of the actual errors. Results showed that the theoretical simulation curve and the prototype simulation curve coincided, and the error was not more than 7.4%, which verified the correctness of the kinematics model. The influence of stiffness factors on the stiffness of system was found according to the stiffness matrix. Finally, the parallel mechanism of the rope-driven rigid-flexible hybrid wave compensation was experimentally verified, and the compensation effect of the mechanism was more than 90%. Results provide theoretical support for the motion and the mechanism design of rigid-flexible hybrid active parallel mechanism for wave compensation.

Key words: spiral theory    active wave compensation    rigid-flexible hybrid parallel mechanism    kinematics    stiffness of flexible bod

 CLC: TP 242.2

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Yuan CHEN,Deng-hui GUO,Li-xia TIAN. Design and modeling of wire-driven rigid-flexible parallel mechanism for wave compensation. Journal of ZheJiang University (Engineering Science), 2021, 55(5): 810-822.

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 图 1  刚柔混合主动式波浪补偿并联机构原理图 图 2  补偿机构整体补偿效果图 图 3  刚柔混合主动式波浪补偿并联机构简图及其坐标系 图 4  波浪补偿并联机构的支链坐标系 表 1  计算绳长与给定绳长的对比 图 5  无穷小位移下绳子变化向量和单位向量 表 2  刚柔混合并联机构参数 图 6  绳子长度的变化 图 7  α、β按照预定轨迹随时间变化时绳子速度与时间的关系 图 8  α、β按照预定轨迹随时间变化时绳子加速度与时间的关系 图 9  动平台绕X轴旋转时系统刚度的变化 图 10  Z方向高度变化时系统刚度的变化 图 11  绳子预紧力对系统整体刚度的影响 图 12  绳牵引刚柔混合波浪补偿并联机构实验样机 图 13  控制系统PID控制框图 图 14  末端执行器位姿补偿运动 图 15  补给船舶与补偿机构末端执行器的运动曲线 图 16  横摇时绳索拉力的变化
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