A Parallel Manipulator for Simulating the Ship Seakeeping Trial
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering - Tập 43 - Trang 529-538 - 2018
Tóm tắt
In this work, a ship motion simulator based on a parallel manipulator able to replicate the seakeeping trial is introduced. The mobility of the moving platform is explained through the theory of screws which reveals the existence of three constraint systems reciprocal to the motion-screw system of a central passive kinematic chain. Thereafter, the forward displacement analysis leads to five quadratic equations which are solved by means of homotopy continuation methods. On the other hand, the input–output equations of velocity and acceleration of the parallel manipulator are systematically obtained by resorting to the theory of screws. Finally, the dynamics of the parallel manipulator is approached through a harmonious combination of the theory of screws and the principle of virtual work. A case study is included with the purpose to numerically exemplify the application of the method.
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