Kinematics of Parallel-Series Position and Pose Adjustment Mechanism for Automated Docking System of Replenishment at Sea

摘要：

For the complex inter-relationship between the floating bodies relative position and pose in the oil supplies system, a stepwise automated docking system is proposed in this paper. The forward kinematics and inverse kinematics model mechanism for parallel-series position and pose adjustment are developed to perform the numerical simulation. The simulation results show that the mechanism for parallel-series position and pose adjustment has a relatively large workspace. When the manipulator is in an extreme position, it also has a certain adjustment capacity to adjust its pose, and it may change its joint variables with the target captured changing, so that the joints powered can search a suitable docking state. So it means that the automated docking system is practicable.

关键词： Automatic docking system Parallel-series mechanism Kinematics Numerical simulation

作者: Ying Yu Qingxin Meng Liquan Wang Baolin Yin Peng Li

作者单位: College of mechanical and electrical Engineering Harbin Engineering University Harbin,China Departme College of mechanical and electrical Engineering Harbin Engineering University Harbin,China Department of Mechanical Engineering Jiamusi University Jiamusi,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-4

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）