Design and modeling of wire-driven rigid-flexible parallel mechanism for wave compensation

被引：0
|
作者：
Chen Y. [1 ]
Guo D.-H. [1 ]
Tian L.-X. [1 ]
机构：
[1] School of Mechanical and Electrical Engineering, Shan Dong University, Weihai
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2021年 / 55卷 / 05期
关键词：
Active wave compensation; Kinematics; Rigid-flexible hybrid parallel mechanism; Spiral theory; Stiffness of flexible bod;
D O I：
10.3785/j.issn.1008-973X.2021.05.002
中图分类号：
学科分类号：
摘要：
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. Copyright ©2021 Journal of Zhejiang University (Engineering Science). All rights reserved.
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页码：810 / 822
页数：12
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