Kinematic Modeling and Collision Interference Detection of Cable-driven Rigid-flexible Wave Motion Compensation Mechanism

doi:10.3969/j.issn.1000-1093.2020.04.013

Abstract

Abstract: A 6-DOF cable-driven rigid-flexible hybrid wave motion compensation mechanism is proposed for multi-dimensional wave motion compensation at sea. The functional requirements of the wave compensation device are analyzed according to the motion characteristics of sea wave, and an inverse attitude model of the mechanism is constructed by the closed vector loop method. The velocity Jacobian matrix of the mechanism is calculated, the velocity and acceleration models on the drive cable and the intermediate rigid branched chain are derived, and the correctness of the established mathematical model is verified by ADAMS simulation software simultaneously. A statics model of the whole mechanism is established, and the force distribution algorithm is used to calculate the tension distributions on the flexible drive cable and the rigid central branched chain. The effectiveness of the algorithm is verified by the established compensation system prototype. The detection of collision interference between the components in this mechanism is analyzed based on the geometric vector method. The feasibility of cable-driven rigid-flexible hybrid wave compensation mechanism for multi-dimensional wave motion compensation is verified through the numerical simulation and experimental verification analysis, which has certain reference significance for further research on tension distribution algorithm optimization and tension control of wave compensation mechanism. Key

Key words: rigid-flexiblehybriddrivenparallelmechanism, seawavemotioncompensation, kinematicmodeling, collisioninterference

CLC Number:

TP242.3

WANG Lidong， CHEN Yuan. Kinematic Modeling and Collision Interference Detection of Cable-driven Rigid-flexible Wave Motion Compensation Mechanism[J]. Acta Armamentarii, 2020, 41(4): 737-749.

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第41卷第4期2020 年4月
兵工学报ACTA ARMAMENTARII
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