Design And Characteristics' Research On The Carrier For Ship Degaussing Experiment

In order to overcome the shortcomings of traditional degaussing experiment,to realize the dynamic magnetic measurement process,to improve the efficiency of gathering datas,the author puts forward a carrier for ship degaussing experiment.In this dissertation,based on the relationship between the induction magnetic field and ship heading and posture change,the structural design of the carrier was done,and its characteristics of kinematics,working space,dynamics were researched.The main contents are as follows:Firstly,according to the theory of ship's magnetic field and its demagnetization process,degaussing experiment and cable-driven parallel robot,the practicability of the carrier is analyzed.The author puts forward the design principles of the carrier,and analyzes the type of mechanism about the carrier.After that,the author completes overall structural design and structural design of each parts,and verifies the carrier to achieve the expectations of motion function.The closed-vector-circle method and Newton-Raphson method are used to analyze the inverse solution and the forward solution of the mechanism kinematics.The rationality of inverse and forward solution model is verified by calculating examples.Based on the analysis of the inverse solution of the mechanism kinematics,the velocity and acceleration analysis of the mechanism are carried out,and the velocity Jacobian matrix is established.The author makes a research about the kinematics simulation of the carrier,which deduces length,velocity and acceleration curves of four cables when the rotating platform is doing rolling,pitching and yawing motion.The results show that the length change curve of the droven cable is continuous and it can guarantee the continuity and stability of the mechanism motion.The author introduces the vector-close theory and the null-space theory to solve the working space of the carrier,and the graph of the available working space is drawn.According to the method of redundancy of cable-driven technology,the author studies the tension problem and draws the graph.Last,the author makes a research about the dynamics of the carrier,to establish the dynamic model of the carrier,to presents a method of the rigid-flexible hybrid dynamics simulation.Compared with the angle of rotating platform,cable-driventension,velocity change curve of rigid body simulation and regid-flexible hybrid simulation,the results show that the method of the rigid-flexible hybrid dynamics simulation is right,and it reflects the real status about force and motion of the carrier,and futher verifies working characteristic of the carrier,which meets requirements of ship degaussing experiment.