Dynamic Modeling and Control Research of 6-DOF Parallel Mechanisms

Ships in ocean navigation are affected by wind, waves, currents, and surges, resulting in six degrees of freedom of movement, which can reduce the efficiency of offshore operations and endanger the safety of operators. In order to maintain the stability of ships during navigation and consider the comprehensive impact of various degrees of freedom on ships, this paper designs a wave compensation platform based on a 6-DOF parallel mechanism. Firstly, based on SolidWorks a 6-DOF parallel mechanism model is designed, and the assembly of the 6-DOF parallel mechanism is imported into the SIMULINK environment for joint simulation, constructing a six degree of freedom parallel active wave compensation device; Secondly, based on the theory of coordinate transformation, kinematic analysis is conducted to establish an inverse mathematical model for the relationship between spatial pose changes and the extension and contraction motion of the support chain; Finally, use PID control to track and control. The correctness of the kinematic model and the feasibility of the motion mechanism have been verified through experimental simulation, which can be used in ship wave compensation systems.