用于提高修船效率的绳牵引并联机器人之设计

随着世界修船业的繁荣，中国修船业飞速发展，但也存在不少问题，其中之一就是由于技术水平和装备落后导致修船的效率不高。飞毯是由美国国家标准局提出，它是一个能有效提高修船效率的基于Stewart平台的绳牵引并联机器人。在给定干船坞尺寸参数的情况下，文章设计一套可用于维修11000t级江海直达货船的绳牵引并联机器人系统（即飞毯）；着重介绍其主要部分的布局设计，并探讨其自动化控制策略；为以后飞毯的研制打下理论基础。

Design of the wire-driven parallel robot for raising ship-repair efficiency

With the prosperity of world ship-repair industry, rapid development has been achieved in China in the same field. But some shortages still exist, among which are low efficiency of technology and the old equipments. The concept of the flying carpet, a 6-degree-of-freedom wire-driven parallel robot with 6 wires, has been proposed by NIST, which is a very sufficient tool to improve ship-repair efficiency. In this paper, a wire-driven parallel robot system, i.e. the flying carpet, used for repairing 11 000 t river-sea through cargo ship is designed. Given the configuration parameters of the dry dock and the ship, the configuration of the main parts of the wiredriven parallel robot system is introduced chiefly, and the control strategy of the robot system are discussed briefly. The proposed novel ship-repair equipment will lay the theoretical foundation for the future research on the flying carpet.