The Simulation And Experimental Research Based On Marine Parallel Mechanism

The ship, etc. Craft that Work in the Marine environment are affected by a variety of Marine environment inevitably. Among them the wave motion produce the largest influence among all the factors. Generally, The ship, etc. Craft that Work in the Marine environment will move along the six degrees of freedom under the effect of the wave motion in the space;what’s more, these wave vibration will produce serious impact for the instruments and the workers that on the floating object.The stewart Parallel Mechanism can move toward Six degrees of freedom in the space; that is to say, the The Stewart Parallel Mechanism can Simuliate the Movement form of the The ship, etc. Craft that Work in the Marine environment and also a Stable platform for the Compensation movement.In my work, with the help of the ADAMS and MATLAB/Simulink, do some simuliation and Experimental Research work with the Parallel Mechanism.This article mainly divides with the following aspects:(1) The structure of the Stewart mechanism and the movement model has been established, and the motion of the Stewart mechanism and workspace has been analyzed under the auxiliary of ADAMS simulation software.(2) According to the movement of ocean wave spectrum and a floating platform amplitude response factor (Response Amplitude Operator or RAO),the floating platform motion response spectrum has been completed, and floating platform in the time domain response curve has been given in six degrees of freedom, the basis of the general floating platform has been provided for simulation.(3) Based on multi-body dynamics software ADAMS and control software of MATLAB/Simulink module, the electromechanical coupling of dynamic modeling of parallel Stewart platform has been completed, and the electromechanical coupling joint control system has been developed to simulate the motion of platform by the ADAMS and MATLAB/Simulink software, tells the use method and the significance of each control element.(4) Based on the experimental study which carried out on Stewart parallel mechanism, the three degrees of freedom motion movement platform has been tested to compensate the stabilized platform solution of wave effect, the sensor sampling frequency, the frequency of the wave motion and composite motion has been analyzed according to the effect of stabilized platform.