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Dynamic model of four degree of freedom rope-driven rigid-flexible hybrid wave compensation device

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Abstract

In the process of replenishment at sea, in order to ensure the safety of workers and cargo on the deck, collisions between the cargo and the deck or cargo should be at least reduced if not avoided. Considering the actual situation of the marine environment, a fourdegree- of-freedom rope-driven rigid-flexible hybrid wave compensation mechanism for offshore hoisting equipment is proposed. First, based on the screw theory, the feasibility of a wave compensation mechanism was verified, and the experimental device of the wave compensation mechanism was designed. Then, a positional forward/reverse solution model of the wave compensation mechanism was established based on the algebraic method. Then, the kinematics model of the wave compensation mechanism was derived and the system dynamics model of the wave compensation mechanism was established based on Newton-Eulerian method. The simulation software was used to verify the derived mathematical model. It was found that the positional positive/negative solution error of the wave compensation mechanism was of the order of 10-5 mm; the MATLAB numerical simulation results and the Adams virtual prototype results of the kinematics and dynamics models were basically consistent. The maximum error was 2.4 % of the theoretical value, which is an acceptable range. The correctness of the derived kinematics and dynamics model was verified. The research results provide a theoretical basis for further performance analysis and motion control of the wave compensation mechanism.

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Acknowledgments

This work was supported by National Natural Science Foundation of China (51375264), Major Innovation Project of Shandong Province (2017CXGC0923), Key Research and Development Program of Shandong Province (2018GGX103025), Natural Science Foundation of Shandong Province (ZR2019 MEE019), and Fundamental Research Funds for Central Universities (2019ZRJC006).

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Authors and Affiliations

  1. School of Mechanical, Electronic & Information Engineering, Shandong University, Weihai, 264209, China

    Liang Tang & Yuan Chen

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  1. Liang Tang
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  2. Yuan Chen
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Corresponding author

Correspondence to Yuan Chen.

Additional information

Recommended by Editor No-cheol Park

Liang Tang, a graduate student at Shandong University, Weihai, holds a B.S. from Shandong University, Weihai. His current research is the multidimensional wave compensation of the rigid-flexible hybrid device.

Yuan Chen is a Professor of Mechanical and Information Engineering of Shandong University, Weihai. He received his Ph.D. from Harbin Institute of Technology. His current research interests include underwater robotics, parallel robotics and applications, robotics and motion control.

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Tang, L., Chen, Y. Dynamic model of four degree of freedom rope-driven rigid-flexible hybrid wave compensation device. J Mech Sci Technol 34, 1937–1948 (2020). https://doi.org/10.1007/s12206-020-0415-x

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  • DOI: https://doi.org/10.1007/s12206-020-0415-x

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