文章基本信息

标题：A Novel Three-SPR Parallel Platform for Vessel Wave Compensation
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作者：Yong Zhan ; Huichun Tian ; Jianan Xu 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2020
卷号：8
期号：418
页码：1013
DOI：10.3390/jmse8121013
语种：English
出版社：MDPI AG
摘要：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.