Simulative Research on Six DOF Robot for Compensating Wave
Movement of Sealift Ships

doi:10.3969/j.issn.1674-0696.2012.05.40

Journal of Chongqing Jiaotong University(Natural Science) ›› 2012, Vol. 31 ›› Issue (5): 1091-1094.DOI: 10.3969/j.issn.1674-0696.2012.05.40

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Simulative Research on Six DOF Robot for Compensating Wave Movement of Sealift Ships

Wen Zhaolin，Chen Aiguo

Department of Ship Engineering，Guangzhou Maritime College，Guangzhou 510725，Guangdong，China

Received:2011-11-20 Revised:2012-02-29 Online:2012-10-15 Published:2015-01-22

舰船过驳6 自由度波浪补偿机器人仿真研究

温兆麟，陈爱国

广州航海高等专科学校船舶工程学院，广东广州51072

作者简介:温兆麟(1974—)，男，湖南桃江人，副教授，硕士，主要从事机电、轮机方面的研究。E-mail:wenzhaolin@126.com。
基金资助:
广州市黄埔区科技计划项目( 1141) ; 广州航海高等专科学校科研项目( 200912B03)

Abstract

Abstract: A six degree-of-freedom robot for compensating wave movement of sealift ships was proposed in this paper． The kinematical modeling，optimal design，simulation experiments were made on the robot． The research results have demonstrated that the robot made it possible for compensating the six degree-of-freedom wave movement of sealift ships

Key words: ship, sealift, wave movement, six degrees of freedom

摘要： 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。

关键词: 舰船, 过驳, 波浪运动, 6 自由度

CLC Number:

TH701

Wen Zhaolin，Chen Aiguo. Simulative Research on Six DOF Robot for Compensating Wave Movement of Sealift Ships[J]. Journal of Chongqing Jiaotong University(Natural Science), 2012, 31(5): 1091-1094.

温兆麟，陈爱国. 舰船过驳6 自由度波浪补偿机器人仿真研究[J]. 重庆交通大学学报（自然科学版）, 2012, 31(5): 1091-1094.

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Simulative Research on Six DOF Robot for Compensating Wave Movement of Sealift Ships

舰船过驳6 自由度波浪补偿机器人仿真研究

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