绳驱动刚柔混合式波浪运动补偿机构的运动学建模与碰撞干涉检测  

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

作　　者：王立栋 陈原[1] WANG Lidong;CHEN Yuan(School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai,Weihai 264209, Shandong, China)

机构地区：[1]山东大学(威海)机电与信息工程学院,山东威海264209

出　　处：《兵工学报》2020年第4期737-749,共13页Acta Armamentarii

基　　金：国家自然科学基金项目(51375264);山东省重大创新工程项目(2017CXGC0923);山东省重点研发计划项目(2018GGX103025);山东省自然科学基金项目(ZR2019MEE019);中央高校基本科研业务费专项项目(2019ZRJC006)。

摘　　要：针对海上多维波浪运动补偿,设计一种6自由度绳驱动刚柔混合式波浪运动补偿机构。依据海上波浪运动特点分析波浪补偿装置的功能需求,结合封闭矢量环法构建该机构位姿逆解模型,计算出机构的速度雅可比矩阵,推导出驱动绳和中间刚性支链上的速度、加速度模型,并利用ADAMS仿真软件验证所建数学模型的正确性;建立整体机构静力学模型,采用力封闭算法计算柔性驱动绳和中间刚性支链上的张紧力分配大小,通过搭建的等比实验平台验证该算法的有效性;基于几何矢量法对机构内各部件之间进行碰撞干涉检测分析;通过数值仿真和实验验证分析,从理论和实验两方面验证该绳驱动刚柔混合式波浪补偿机构应用于海上多维波浪运动补偿的可行性,所得结果对进一步研究波浪补偿机构的张紧力算法优化和张力控制具有一定参考意义。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.

关 键 词：刚柔混合式并联机构 海上波浪运动补偿 运动学建模 碰撞干涉 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]