并串混联稳定克令吊运动学与动力学建模  

Kinematic and Dynamic Modeling of Parallel-serial Hybrid Stabilizing Crane Mechanism

作　　者：李二伟[1,2] 赵铁石[1,2] 胡强强[1,2] 王唱[1,2] 耿明超 LI Erwei;ZHAO Tieshi;HU Qiangqiang;WANG Chang;GENG Mingchao(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Laboratory,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging and Stamping Technology and Science,Ministry of Education,Yanshan University,Qiahuangdao 066004,China;College of Mechanical Engineering,Hebei University of Architecture,Zhangjiakou 075000,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004 [3]河北建筑工程学院机械工程学院,张家口075000

出　　处：《农业机械学报》2018年第8期411-419,49,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51375420);河北省自然科学基金项目(E2018404044);河北省高等学校青年拔尖人才计划项目(BJ2016017)

摘　　要：稳定克令吊对于高海况下作业船与海上平台之间货物的稳定快速吊运发挥着重要的作用。结合海上运动补偿的特点,提出了一种并串混联稳定克令吊机构,并联部分为2自由度转动并联机构,能够主动补偿作业船的横摇和纵摇,为串联部分提供一个水平的底座,稳定克令吊机构能实现其末端一点相对地球保持静止。在非惯性系下,结合矢量法和旋量速度、加速度理论,按照先并联后串联的顺序,建立了稳定克令吊机构末端稳定一点的运动学模型;基于旋量形式的牛顿-欧拉公式,结合D’Alembert原理和虚功原理,按照先串联后并联的顺序,建立了其动力学模型。最后通过数值算例验证所建模型的正确性,为稳定克令吊的工程化应用奠定了理论基础。Stabilizing crane plays an important role in the lifting of cargo between ships and offshore platforms,such as wind turbine and drilling platform under high sea conditions. According to the characteristics of motion compensation offshore,a parallel-serial hybrid stabilizing crane mechanism was proposed. The parallel part is a two degrees of freedom（DOF） rotational parallel mechanism（RPM）,which has two continuously rotational DOF. The parallel part,with a virtual continuous axis,can isolate the impact of the rolling and pitching of the moored ship to provide a stable base for the serial part： PRRP kinematic chain. The serial part has the degree of heave,yaw,tilt and telescope. The whole stabilizing crane can keep the end point of the crane staying still relative to the earth. Firstly,the hybrid mechanism was described and the corresponding coordinate systems were established. Then,assuming the parallel part and the first P kinematic pair of the serial part compensated the motion of the moored ship,in the non-inertial system,combined the vector method and screw velocity and acceleration theories,the kinematic model of end of the stable gangway stabilizing at a fixed point was established in accordance with the sequence of the parallel part and the serial part. Based on Newton-Euler formulas in screw form and combined D ＇Alembert principle and virtual work principle,the dynamic model of the hybrid mechanism was established in accordance with the sequence of the serial part and the parallel part.Finally,the correctness of the models was verified by a numerical example. The work laid a theoretical foundation for the engineering application of the stabilizing crane.

关 键 词：稳定克令吊 混联 运动学 动力学 螺旋理论 非惯性系 

分 类 号：U664.43[交通运输工程—船舶及航道工程]