Development of Motion Reduction Device for Ship Using Underactuated Parallel Link Mechanism
Transferring between a ship and an offshore platform is potentially dangerous owing to excessive motion caused by rough conditions. In this paper, we focus on a small vessel with consideration of three degrees of freedom of motion: heaving, rolling, and surging. To stabilize these motions using a re...
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| Veröffentlicht in: | Sensors and materials 2021-03, Vol.33 (3), p.897 |
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| container_title | Sensors and materials |
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| creator | Morinaga, Akihiro Ogawa, Takahiro Iwanaga, Kakeru Shimomoto, Yoichi Yamamoto, Ikuo |
| description | Transferring between a ship and an offshore platform is potentially dangerous owing to excessive motion caused by rough conditions. In this paper, we focus on a small vessel with consideration of three degrees of freedom of motion: heaving, rolling, and surging. To stabilize these motions using a relatively small device, we propose an underactuated mechanism including two linear actuators and a two-degree-of-freedom gangway connected to the transfer platform. First, we clarify the degrees of freedom and range of the mechanism. Next, we derive a model and design a controller to stabilize the system. Finally, the effectiveness of the mechanism and its controller are tested by numerical simulation as well as by an actual experiment on a small-scale model of the mechanism. |
| doi_str_mv | 10.18494/SAM.2021.3258 |
| format | Article |
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| source | DOAJ Directory of Open Access Journals; EZB-FREE-00999 freely available EZB journals; Alma/SFX Local Collection |
| subjects | Actuators Blood vessels Control systems design Controllers Degrees of freedom Mathematical models Offshore platforms Scale models |
| title | Development of Motion Reduction Device for Ship Using Underactuated Parallel Link Mechanism |
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