谢克峰,张合,李豪杰,丁立波,李珂翔.海上漂浮2-HUS/U并联平台动力学分析[J].农业机械学报,2016,47(1):362-368.
Xie Kefeng,Zhang He,Li Haojie,Ding Libo,Li Kexiang.Dynamic Analysis of Offshore Floating 2-HUS/U Parallel Platform[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):362-368.
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海上漂浮2-HUS/U并联平台动力学分析   [下载全文]
Dynamic Analysis of Offshore Floating 2-HUS/U Parallel Platform   [Download Pdf][in English]
投稿时间:2015-06-08  
DOI:10.6041/j.issn.1000-1298.2016.01.050
中文关键词:  海上平台  2-HUS/U并联平台  滚珠丝杆  动力学
基金项目:国家自然科学基金项目(51475243)和南京理工大学创新计划项目
作者单位
谢克峰 南京理工大学 
张合 南京理工大学 
李豪杰 南京理工大学 
丁立波 南京理工大学 
李珂翔 中国船舶重工集团724所 
中文摘要:针对小型化、灵活投放海上漂浮平台的平衡稳定控制需求,提出了一种具备空间二维稳定的2-HUS/U并联平台,其HUS支链为驱动支链,U为恰约束从动支链,采用滚珠丝杆驱动机构。设计的2自由度无冗余结构,为平台的快速稳定平衡提供保证,采用螺旋理论分析验证了2-HUS/U并联平台自由度;根据平台的约束方程导出了位置逆解和Jacobian矩阵,分析了平台的速度、加速度特性和可达工作空间,利用刚体的拉格朗日方法对该平台进行了动力学分析。通过数值算例对并联平台的运动学和动力学分析结果进行了数值求解。结果表明,该平台具备三级波浪10°/s波频的调平能力,满足三级波浪10°波倾角的稳定需求;在45°波倾角和10°/s的波频下,负载需求驱动力为15000N,满足海上漂浮平台高负载的驱动需求。通过系统整体的分析,表明所提出的海上平台满足三级海洋环境的需求。
Xie Kefeng  Zhang He  Li Haojie  Ding Libo  Li Kexiang
Nanjing University of Science and Technology,Nanjing University of Science and Technology,Nanjing University of Science and Technology,Nanjing University of Science and Technology and Inst.724 of China Shipbuilding Industry Corporation
Key Words:offshore platform  2-HUS/U parallel platform  ball screw  dynamics
Abstract:For the balance and controlling demand of the small and flexible delivery offshore floating platform, a 2-HUS/U parallel platform was presented and it had space two dimensional stable ability, which adopt ball screw mechanism. Its HUS limps were regarded as the driver and U limp was regarded as the driven. It provided a guarantee for the fast and stable balance of platform, and the degree of freedom of the platform was verified by the screw theory. According to constraint equations of platform, the reverse solution and the Jacobian matrix of the platform was derived and its velocity,acceleration performance, and reachable workspace were analyzed. The whole dynamics of space parallel platform was analyzed by the Lagrange’s formulation. The results of kinematics and dynamics analyses of parallel platform were solved as numerical example. The results show that the control of stability and balance is easily achieved by platform of less freedom. The platform has the stable ability of three wave frequency of 10°/s, and meets the stable demand of three wave angle of 10°. The maximum tilt angle of platform is 12°, and the workspace is symmetrical about the center axis. In the wave angle 45° and wave frequency 10°/s, the driving force for load is 15000N, and the platform meets the high load need of offshore floating platform. Through the whole analysis, it proves the offshore platform proposed meets the demand of three wave environments, and it also proves certain theoretical basis for the platform optimization and control system design of such platforms.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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