Research On Design And Experiment Of Cable-driven Wave Compensation Mechanism With Rigid-flexible Hybrid

In order to ensure the safe,efficient,accurate and smooth operation of sea surface container lifting operations,multi-dimensional wave motion compensation technology is needed.Most of the existing wave compensation systems only have single functions such as wave motion compensation or swing suppression in the heave direction.Based on the above functional requirements,a cable-driven wave compensation mechanism with rigid-flexible hybrid(CRHCrane)with a Cable-driven rigid-flexible hybrid design is innovatively designed in this thesis,and the analysis and research are carried out in the following aspects according to the research content of the institution:The kinematics and dynamics modeling of the cable-driven rigid-flexible hybrid multi-dimensional wave motion compensation crane was established.The kinematics model of the overall mechanism was built based on the vector closure principle,and the changes in the length,speed,and acceleration of each driving branch Finally,the Newton-Euler method was used to model the overall mechanism.Based on the force-closed algorithm,the tension optimization force of the driving branch chain in the wave compensation mechanism is optimized and the tension is solved.Based on this,by analyzing the various constraints affecting the working space of the cable-driven rigid-flexible wave compensation crane,The working space of the overall mechanism was calculated.Finally,by analyzing the factors that affect the overall stiffness,a simulation analysis was performed in MATLAB,and a comparative analysis was performed with the RoboCrane mechanism.Based on the APDL command flow,a finite element model of the CRHCrane of a cable-driven rigid-flexible hybrid wave mechanism is established.The natural frequency of the mechanism and the modal changes of the mechanism under different orders are analyzed,and a way to improve the mechanism performance is proposed;The damped motion differential equation was used to calculate the vibration of each drive branch of the mechanism under external excitation.Based on MATLAB’s latest virtual simulation module Simscape,a virtual cable-driven rigid-flexible hybrid wave compensation platform prototype model was built,combined with the mechanism control system built in Simulink,and the established mathematical mathematical model was applied to the virtual wave compensation through simulation Platform.Then set up the mechanical system and control system of the experimental prototype,and collect and analyze the data obtained by the sensors.Finally,the theoretical model and the experimental data of the prototype were analyzed and compared to verify the correctness and motion performance of the model.