Parallel serial embarkation mechanism motion planning method based on sea wave active compensation

Abstract

The invention discloses a parallel serial embarkation mechanism motion planning method based on sea wave active compensation. According to the parallel serial embarkation mechanism motion planning method, the structure of a parallel serial embarkation system is analyzed and decomposed, thus a six-degree-of-freedom parallel platform and a three-degree-of-freedom serial gangway ladder kinematic module are established, motion quantity distribution is conducted on two subsystems through a jacobian matrix pseudo-inverse technique, present mission situation and constrained situation of the subsystems are combined, motion quantity of the system is optimized by using a gradient projection method, and the situation of singularity postures of the system is avoided. According to the parallel serial embarkation mechanism motion planning method, the kinematics multi-solution problem of degree-of-freedom redundancy of a parallel serial mechanism is effectively solved, meanwhile, factors such as joint spacing and the mechanism singularity postures are comprehensively considered, space motion distribution of the parallel serial mechanism is optimized to great extent, input parameters are providedfor control of the parallel serial embarkation system, and demands of operation and maintenance under actual working situation are met.

Description

technical field [0001] The invention provides a motion planning method for a hybrid boarding mechanism, in particular a motion planning method for a hybrid boarding mechanism based on ocean wave active compensation, an active ocean wave compensation analysis method based on multi-task motion planning, marine engineering technology field. Background technique [0002] The high pollution and high emissions of traditional energy have caused irreversible damage to the environment. This grim situation has made people pay more attention to the development and use of clean energy and green energy. Marine resources are rich in reserves, not only containing a large amount of traditional energy such as oil and natural gas, but also rich in renewable energy. Wind power generation is one of the fields with the most mature technology, the most development conditions and the most development prospects in the development of renewable energy. [0003] However, there are many problems in t...

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Problems solved by technology

Bi Shusheng et al. proposed a novel series-parallel mechanism for micro-operation, and used the method of vector calculation to solve the forward and inverse kinematics of the hybrid mechanism. However, this method is slow in calculation speed and cannot guarantee to obtain all solutions. And the final result is related to the initial value selection

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