Analysis of Kinematics and Dynamics of 3UPU/PU Parallel Platform Used in Automatic Wave Compensation-Reference-Cited by-同舟云学术

Analysis of Kinematics and Dynamics of 3UPU/PU Parallel Platform Used in Automatic Wave Compensation

Published:2014-10 Issue: Volume:1049-1050 Page:1061-1066
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Lu Guang Can¹

Affiliation:

1. Shanghai Jiao Tong University

Abstract

3UPU/PU parallel platform is able to achieve a linear and two rotating motion (3-DOF ) platform,it can used in automatic wave compensation of ship deck equipment. The compensation platform is composed of dynamic and static plate, hydraulic cylinder and driven chain parts; it has strong capacity , simple structure and suitable for most conditions. This paper analysis the motion of the platform using one order and two order influence coefficient, establishes the dynamic model of this platform using the Newton Euler method , obtained the velocity, acceleration and force curve by simulating calculation, lay the foundation for the stable platform’s further dynamic analysis and control.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.1049-1050.1061.pdf

Reference5 articles.

1. Stewart, D. A Platform With Six Degree of Freedom. Proceedings of institution of Mechanical Engineers. 1965，180(5): 371-386.

2. Zhao Tieshi, Chen Jiang. 4-UPU Parallel Manipulator Mechanism and Kinematics [J] , China Mechanical Engineering, 2005, 16 (22): 2034-20381.

3. Zhang Jianzheng, Liu Wei, GAO Feng. A Newton-Euler Formulation for the Inverse Dynamics of the 6-PSS Parallel Mechanism [J]. 2007, 23 (3): 54-59.

4. Huang Zhen, Kong ling-fu, Fang Yuefa. Parallel Robot Mechanism and Control Theory [M], Beijing: Mechanical Industry Press, (1997).

5. Qin Yongyuan. Inertial navigation [M], Beijing: Science Press, May (2006).

Cited by 6 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. FPID-RCP: A Control Method for a Swing-Type Wave Compensation Platform System;Journal of Marine Science and Engineering;2024-08-12

2. Design and analysis of 3-UPU wave compensation platform based on improved sliding mode control;Ships and Offshore Structures;2024-02-29

3. Linear Active Disturbance Rejection Control with Linear Quadratic Regulator for Stewart Platform in Active Wave Compensation System;2024

4. Multibody dynamic analysis of float-over installation based on active multi-dimensional motion compensation equipment;Ocean Engineering;2023-10

5. Dynamic model of four degree of freedom rope-driven rigid-flexible hybrid wave compensation device;Journal of Mechanical Science and Technology;2020-04-30