船舶靠帮补给装置可达空间分析及运动学仿真  

Analysis of Reachable Space and Kinematics Simulation of Ship Reliance Supply Device

作　　者：刘志强[1] 郭世健 王佳[1] 吴华强 陶俊 LIU Zhiqiang;GUO Shijian;WANG Jia;WU Huaqiang;TAO Jun(School of Mechanical Engineering,Jiangsu University of Science and Technology,Jiangsu Zhenjiang 212003,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China)

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003 [2]上海船舶设备研究所,上海200031

出　　处：《船舶工程》2020年第9期75-79,共5页Ship Engineering

基　　金：国家重点研发计划资助项目(2018YFC0309100)。

摘　　要：针对当前海上船舶间靠帮补给装置存在的不足,提出一种混联式靠帮补给装置,使用串联式起重臂与并联式补偿装置的组合实现对目标船甲板的覆盖和对目标船姿态的补偿。根据设计的补偿装置结构参数分析装置的可达空间约束方程;利用工作空间极坐标搜索法,结合Matlab软件得到补偿装置的实际可达空间。使用三维设计软件对补偿装置进行建模,利用Adams软件的运动学分析模块对允许最大海况下满载的装置进行运动学分析,得到各驱动杆组的运动参数,可为装置的进一步设计与完善打下基础。Aiming at the shortcomings of the current help-supplying device between ships at sea,a hybrid connection help-supplying device is proposed,which uses a combination of a series boom and a parallel compensation device to achieve the coverage of the target ship’s deck and attitude compensation of the target ship.According to the structure parameters of the designed compensation device,the reachable space constraint equation of the device is analyzed,and the actual reachable space of the compensation device is obtained by using polar search method of working space combined with Matlab software.The 3D design software is used to model the compensation device,and the kinematics analysis module of Adams software is used to perform the kinematics analysis on the device that is allowed to be fully loaded at the maximum sea state.The motion parameters of each driving rod group are obtained,which is beneficial to the further design and improvement of the device.

关 键 词：海上补给 混联装置 可达空间 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论] U674.98[交通运输工程—船舶及航道工程]