基于并联机构的海工装备运动补偿机器人研究

Study on Motion Compensation Robot Based on Parallel Mechanism for in Offshore Engineering

摘要: 本文针对海工装备在海上作业时受到海浪作用运动复杂难以控制的问题，专门研究并设计一套六自由度波浪运动发生补偿机器人，而且能够反向控制，补偿海浪运动对装备的影响，保证海工装备在海上作业的平稳性，方法采用并联机构方法求解的六自由度的运动，通过对六自由度平台的运动控制，使其模拟海浪运动，进行船舶运动仿真，并对其运动进行理论分析及设计研究。最后通过ADAMS进行运动仿真，对比理论推导和模拟数据的对比，从而验证此方法的有效性并用于工程实践。

Abstract: This paper aims at the problem that marine equipment is difficult to control due to the complex motion of waves on the offshore operations. It specializes in researching and designing a set of 6-DOF wave motion compensation robots. It can also reverse control to compensate for the impact of wave motion on equipment and ensure the sea. The smoothness of offshore equipment at work is measured using a six-degrees-of-freedom motion solved by the parallel mechanism method. Through the six-degree-of-freedom platform’s motion control, it simulates the motion of waves, simulates the ship’s movements, performs theoretical analysis of its movement, and design research. Finally, ADAMS was used to simulate the movement, and the comparison be-tween theoretical derivation and simulated data was compared to verify the effectiveness of this method and be used in engineering practice.