Abstract
A wave compensation platform based on 3-SPR parallel platform is designed for marine ships with a dynamic positioning system. It can compensate for the heave, rolling, and pitching movement of a vessel under level 4 sea state. The forward kinematics of the mechanism is used to draw the central point position workspace and the attitude workspace of the moving deck of the compensation platform. The compensation effects of the 3-RPS parallel compensation platform and the 3-SPR parallel compensation platform are compared, and the feasibility and superiority of the compensation scheme using the 3-SPR parallel compensation platform are proved. To lower the working height of the upper deck of the compensation platform and reduce the extension range of the support legs, the structure of the compensation platform is optimized, and a novel 3-SPR parallel platform is designed. Finally, a simulation model was established. Using the inverse kinematic model as a compensation movement solver which can online calculate the length of branch legs based on the measured heaving, rolling, and pitching values of vessels, the compensation effect of the new structure under a certain sea state is simulated. The result demonstrated the efficiency of the ship motion decoupling movement of the newly designed compensation platform and proved the competence of it.
Highlights
A considerable amount of energy sources are stored in oceans which occupy 71% of the surface area of the earth
The heave compensation platform is a system designed for decoupling ship motions under diverse ocean circumstances [4]. This system structurally consists of two decks and several mobile cylinders, by using ship motion prediction algorithms [5] and an active control system to module these cylinders’ length, the heave compensation platform system can maintain its upper deck motionless [6,7]
The motion model of the parallel 3-SPR compensation platform is established by using the same structure size as the 3-RPS platform above
Summary
A considerable amount of energy sources are stored in oceans which occupy 71% of the surface area of the earth. For great capacity of cargo orunder workers, the sea areastate of the deck of wave this height is 2.5 m, the heave compensation platform system needs a vertical moving range of no less than height must is 2.5 be m,adequate. 3. In the figure,in the lower triangle used of as different inputs to solve the pose the upper of the compensation platform this case. 3.ofIn the figure, theislower blue triangle represents represents theattitudes deck fixed on the ship and the upper part the platform moving platform motion images of different attitudes are drawn and shown in. The lower blue triangle the deck fixed platform on the ship deck and the upper part is the moving platform motion space. The workspace the 3-RPS compensation comprises the position platform inside the motion space cannot be observed clearly.
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