机器人2011，Vol.33Issue(1)：28-34,7.DOI:10.3724/SP.J.1218.2011.00028
用6-RUS型并联机构实现海上补给自动对接的关键技术
Key Technologies of Automatic Docking for Replenishment at Sea with the 6-RUS Parallel Mechanism
摘要
Abstract
To implement the automatic docking for replenishment at sea, a 6-RUS parallel mechanism is presented to realize real-time adjustment of position and orientation for bell mouth docking. First, the relative position and structure constraints of the legs of the mechanism are discussed, and the inverse kinematics model is developed. Next, the force situation of the legs of the mechanism is analyzed theoretically. And then the inverse dynamics model using Kane's equation is developed. The numerical simulation is developed to solve the evolution of drive angle and drive torque in the moving process of the mechanism. The simulation results show that the proposed kinematics model of 6-RUS parallel mechanism can predict the drive angle and torque exactly, so that the model can provide a sound theoretical basis for automatic docking in replenishment at sea.关键词
并联机构/自动对接/逆运动学/逆动力学/数值仿真Key words
parallel mechanism/ automatic docking/ inverse kinematics/ inverse dynamics/ numerical simulation分类
机械制造引用本文复制引用
于影,孟庆鑫,王立权,殷宝麟,王磊..用6-RUS型并联机构实现海上补给自动对接的关键技术[J].机器人,2011,33(1):28-34,7.基金项目
佳木斯大学重点科研项目(Lz2009-018). （Lz2009-018）
