A Stable Platform to Compensate Motion of Ship Based on Stewart Mechanism
Severe vibration and swing of ship or offshore structure in hostile sea environment have great effects on instruments, equipment and crews aboard. The paper brings out a stable platform based on a 6 SPS Stewart mechanism. It can compensate the motion of vessel by adjusting the length of 6 support cylinders. Kinematic analysis is carried out for this mechanism, and the motion of cylinder for different motion of ship is calculated. The workspace of motion compensation is given out by applying numerical method. This mechanism can provide a solution for stable platform for high precision instruments or equipment on ship or vessel.
KeywordsStewart mechanism Offshore platform Kinematic analysis Work space Transformation matrix
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