六自由度波浪补偿机构结构设计与优化  

Structural design and optimization of a six degree of freedom wave compensation mechanism

作　　者：陶利民 李霄楠 刘友健 韩伟 唐涛 TAO Limin;LI Xiaonan;LIU Youjian;HAN Wei;TANG Tao(School of Mechanical and Marine Engineering,Beibu Gulf University,Qinzhou 535011,China)

机构地区：[1]北部湾大学机械与船舶海洋工程学院,广西钦州535011

出　　处：《舰船科学技术》2025年第2期59-65,共7页Ship Science and Technology

基　　金：广西船舶与海洋工程一流学科标志性成果孵育基金资助项目(BBGU-CHYLXK-KY-2022-);广西研究生教育创新计划资助项目(YCSW2023512)。

摘　　要：为提高海上货物转运的安全性,提出基于绳牵引并联装置的六自由度波浪补偿机构结构设计方案。以4级海况为背景,增大工作空间为目的,在补偿需求和抗摆约束下,使用Matlab软件求解多组不同参数机构在横摇和纵摇方向的力旋量可行工作空间与动平台抗摆轨迹,逐一对比分析优化机构参数,最终通过样机实验验证了仿真结论的正确性,证明了4级海况下机构具有足够的波浪补偿能力并可完全消除负载摆动。In order to improve the safety of maritime cargo transportation,a six degree of freedom wave compensation mechanism structure design scheme based on rope traction parallel device is proposed.Taking the fourth level sea conditions as the background and increasing the workspace as the goal,under the compensation requirements and anti swing constraints,Matlab software was used to solve the feasible workspace of force spinors and anti swing trajectories of multiple sets of different parameter mechanisms in the roll and pitch directions,and to compare and analyze the optimized mechanism parameters one by one.Finally,the correctness of the simulation conclusion was verified through prototype experiments,proving that the mechanism has sufficient wave compensation ability and can completely eliminate load swing under the fourth level sea conditions.

关 键 词：波浪补偿 补偿需求 抗摆约束 参数优化 样机实验 

分 类 号：TH122[机械工程—机械设计及理论]