A Stable Platform to Compensate Motion of Ship Based on Stewart-Gough Mechanism

摘要：

Severe vibration and swing of ship or offshore structure in hostile sea environment have great effects on instruments, equipments and crew on them. The paper brings out a stable platform based on a 6 SPS Stewart-Gough 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 compensation is also given out. This mechanism can provide a solution for stable platform for high precision instruments or equipments on ship or vessel.

关键词： Steward-Gough Mechanism offshore platform Kinematic Analysis Work Space Transformation Matrix

作者: Zongyu Chang Xiaopeng Zhang Zhongqiang Zheng Daxiao Gao

作者单位: Engineering College,Ocean University of China,Qingdao,P.R.China,266100 Engineering College,Ocean University of China,Qingdao,P.RChina,266100

会议类型: 国际会议

会议名称: 第二届机器人与机电一体化国际学术会议

会议地点: 上海

会议语种:英文

页码: 1-5

在线出版日期: 2011-10-14（万方平台首次上网日期，不代表论文的发表时间）