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提出一种对舰船过驳进行6自由度波浪补偿的机器人,对该机器人进行了运动学建模、优化设计,并进行了仿真。研究结果表明:该优化的补偿机器人可以实现舰船过驳6自由度的波浪补偿,为舰船过驳波浪运动实现6个自由度的完全补偿提供了可能。 相似文献
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在两轴汽车三自由度操纵模型的基础上,利用拉格朗日方法详细推导出了三轴汽车三自由度操纵模型,该方法同样适用于其它多轴汽车的建模分析。并给出了三轴汽车在已知整车回转角速度的情况下计算各车轮转速的方法。 相似文献
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为应对复杂的作业工况和海洋环境,研究了水下中型作业遥控机器人(ROV)的操纵控制运动.文章分析了作业型ROV的操纵特性,根据其基本的定向、定高和定深的航行能力需求,基于模糊PID方法的控制原理,为其配置了精度高、响应快的控制系统,建立了4自由度操纵控制运动模型,对定向、定高等运动性能的操纵进行仿真研究,通过水池实验验证了该控制方法的有效性. 相似文献
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The ultimate strength assessment of platings affected by random corrosion wastage is a key factor for the reliable design of new ships and the structural health monitoring of aged structures, as pitting corrosion wastage significantly affects the ultimate capacity of platings under compression. In this respect, significant efforts have been undertaken in the last decade to assess the ultimate strength drop-off of pitted platings under compression and several interpolating design formulas, based on a large number of FE simulations, have been developed. Nevertheless, current Rules and guidelines don't provide any explicit strength check criterion for pitted platings. Hence, the main aim of current research is the development of a new framework for the ultimate strength assessment of pitted platings, based on a stochastic approach and the endorsement of Monte Carlo simulation. A new formula, which allows evaluating the statistical properties of the plating ultimate strength in presence of random corrosion wastage, is developed. Subsequently, a benchmark study is carried out, to compare the new formula with the existing ones available in literature and a wide set of FE simulations, carried out by Ansys APDL. Current results are discussed, and the effectiveness of the new formula is verified. 相似文献