{"title":"Dynamic Analysis of Offshore 2-HUS\/U Parallel Platform","authors":"Xie Kefeng, Zhang He","volume":122,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":229,"pagesEnd":236,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/10006236","abstract":"For the stability and control demand of offshore small floating platform, a 2-HUS\/U parallel mechanism was presented as offshore platform. Inverse kinematics was obtained by institutional constraint equation, and the dynamic model of offshore 2-HUS\/U parallel platform was derived based on rigid body’s Lagrangian method. The equivalent moment of inertia, damping and driving force\/torque variation of offshore 2-HUS\/U parallel platform were analyzed. A numerical example shows that, for parallel platform of given motion, system’s equivalent inertia changes 1.25 times maximally. During the movement of platform, they change dramatically with the system configuration and have coupling characteristics. The maximum equivalent drive torque is 800 N. At the same time, the curve of platform’s driving force\/torque is smooth and has good sine features. The control system needs to be adjusted according to kinetic equation during stability and control and it provides a basis for the optimization of control system.","references":"[1]\tZ. Y. Wang, B. Zhang, and G. H. Liu, \u201cApplication and Foreground of the Floating Structures,\u201d China Offshore Platform, vol. 24, no. 1, pp.10-14, Feb. 2009.\r\n[2]\tH. J. Deng. Study on stability and Mooring System Performance of Offshore Floating Turbine Foundation. Harbin: Harbin Engineering University, 2012, pp. 2-4.\r\n[3]\tQ. J. Lu, Z. H. Yang, \u201cProbabilistic dynamic optimization design for support structure of offshore wind turbines,\u201d Journal of vibration and shock, vol. 32, no. 17, pp.46-51, July, 2013.\r\n[4]\tZ. W. Hu, H. Chen, J. P. Liu, \u2018\u2019Talang Elf-unmanned surface warship,\u201d Modern Military, vol. 29, no. 12, pp.44-46, Dec. 2004.\r\n[5]\tT. H. Ren. Design and Research of Servo System of Shipboard Stabilized Platform. Xia men: Xia men University, 2014, pp. 6-7.\r\n[6]\tX. Liu, T. S. Zhao, and J. W. Gao, \u201cDynamic Modeling and Analysis of Ship-based Stabilizing Platform in Non-inertial System,\u201d ROBOT, vol. 36, no. 4, pp.411-418, July, 2014.\r\n[7]\tX. Y. Sun, Z. J. Xie, K. L. Zhai, and J. Zhang, \u201cDynamic Analysis and Simulation of 6-PSS Flexible Parallel Robot,\u201d Transactions of the Chinese Society for Agricultural Machinery, vol. 43, no. 7, pp. 194-205, July, 2012.\r\n[8]\tH. W. Luo, J. Zhang, H. Wang, and T. Huang, \u201cAn Elastodynamic Modeling Method for a 3-RPS Parallel Kinematic Machine,\u201d ROBOT, vol. 36, no. 6, pp. 737-743, 750. Nov. 2014.\r\n[9]\tS. Z. Liu, Y. Q. Yu, Q. B. Liu, L. Y. Su, and G. N. Si, \u201cDynamic Analysis of 3-RRC Parallel Manipulator,\u201d. Journal of Mechanical Engineering, vol. 45, no. 5, pp. 220-224, May, 2014.\r\n[10]\tZ. Huang, Y. S. Zhao, T. S. Zhao, Advanced Spatial Mechanism. Beijing: Higher Education Press,2006, ch. 5.\r\n[11]\tK. X. Li, H. Zhang, \u201cMotion Simulation of Stabilized Platform with Parallel Mechanism,\u201d Computer Simulation, vol. 30, no. 8, pp.212-215, Aug. 2013.\r\n[12]\tJ. W. Zhao, X. G. Ruan, \u201cModeling and Control of a Flexible Two-wheel Upright Self-balance Humanoid Robot,\u201d ROBOT, vol. 31, no. 2, pp.179-186, Mar. 2009.\r\n[13]\tX. Wang, X. G. Yuan, X. Yang, \u201cResearch on Multi-Body Separation Dynamics Using Lagrange Method,\u201d Journal of Northwestern Polytechnical University, vol. 32, no. 1, pp.18-22, Feb. 2014.\r\n[14]\tM. Richard, Z. X. Li, and S. Charnka, A Mathematical Introduction to Robotic Manipulation. Beijing: China Machine Press,1997, ch. 4.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 122, 2017"}