船舶靠帮补给装置可达空间分析及运动学仿真

针对当前海上船舶间靠帮补给装置的不足,提出了一种混联式靠帮补给装置,使用串联式起重臂和并联式补偿装置的组合,可实现目标船甲板的覆盖以及对目标船的姿态补偿。根据设计的补偿装置结构参数,分析了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软件得到了补偿装置的实际可达空间。使用三维设计软件进行补偿装置的建模,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,有利于装置的进一步设计与完善。

Analysis of reachable space and kinematics simulation of ship reliance supply device

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 the target ship. Attitude compensation. According to the structure parameters of the designed compensation device, the reachable space constraint equation of the device was analyzed, and the actual reachable space of the compensation device was 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, and the motion parameters of each driving rod group are obtained, which is beneficial to the further design and improvement of the device.