A Parallel Manipulator for Simulating the Ship Seakeeping Trial
| Autor: | L. A. Alcaraz-Caracheo, F. A. Juarez-Leon, Jaime Gallardo-Alvarado, Ramón Rodríguez-Castro |
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| Rok vydání: | 2018 |
| Předmět: |
Kinematic chain
0209 industrial biotechnology Computer science Mechanical Engineering Work (physics) Computational Mechanics Parallel manipulator 02 engineering and technology Seakeeping Motion simulator 01 natural sciences Computer Science::Robotics Acceleration 020901 industrial engineering & automation Quadratic equation Mechanics of Materials Control theory 0103 physical sciences Virtual work 010301 acoustics |
| Zdroj: | Iranian Journal of Science and Technology, Transactions of Mechanical Engineering. 43:529-538 |
| ISSN: | 2364-1835 2228-6187 |
| DOI: | 10.1007/s40997-018-0222-5 |
| Popis: | In this work, a ship motion simulator based on a parallel manipulator able to replicate the seakeeping trial is introduced. The mobility of the moving platform is explained through the theory of screws which reveals the existence of three constraint systems reciprocal to the motion-screw system of a central passive kinematic chain. Thereafter, the forward displacement analysis leads to five quadratic equations which are solved by means of homotopy continuation methods. On the other hand, the input–output equations of velocity and acceleration of the parallel manipulator are systematically obtained by resorting to the theory of screws. Finally, the dynamics of the parallel manipulator is approached through a harmonious combination of the theory of screws and the principle of virtual work. A case study is included with the purpose to numerically exemplify the application of the method. |
| Databáze: | OpenAIRE |
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