一种基于并联机构的运动补偿式抱桩器设计及仿真  

Design and simulation of a motion compensation pile gripper based on parallel mechanism

作　　者：平涛 孙远韬[1] 张氢[1] Ping Tao;Sun Yuantao;Zhang Qing

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《起重运输机械》2024年第9期39-44,共6页Hoisting and Conveying Machinery

基　　金：工信部高技术船舶科研项目“深水高效海上风电安装平台关键技术研究”(CJ11N20)。

摘　　要：海上风机的施工难点之一为桩柱的安装,其在安装过程中需经受海浪、海风和海床土壤条件等复杂多变的海洋环境影响,容易发生倾斜,影响施工进度。抱桩器可用于扶正导向桩柱,抱桩器的性能也是影响海上风电发展的因素之一。文中针对新形势下风电发展需求,利用并联机构,提出了一种基于Stewart构型的可进行运动补偿的抱桩器,详细介绍了其补偿抱桩的思路,结合海浪补偿原理、抱桩作业过程给出了一种配套的控制方法,以提高抱桩安装中所存在的精度以及效率问题,并通过ADAMS仿真予以验证其合理性,从而为之后的设计提供参考。One of the difficulties in the construction of offshore wind turbines is the installation of piles.During installation,due to the complex and changeable marine environment such as sea waves,sea breeze and seabed soil conditions,the piles are prone to tilt,which affects the construction progress.Pile gripper can be used to straighten piles,so the performance of pile gripper is also one of the factors affecting the development of offshore wind power.In this paper,according to the demand of wind power development under the new circumstances,a pile gripper with motion compensation function based on Stewart configuration is proposed,and its idea of compensating pile holding is introduced in detail.Combined with the principle of wave compensation and pile holding operation,a supporting control method is proposed to improve the accuracy and efficiency of pile holding installation,and its rationality is verified by ADAMS simulation,so as to provide reference for future design.

关 键 词：并联机构 运动补偿 抱桩器 海浪补偿 

分 类 号：P752[天文地球—海洋科学]