油圧式パラレルメカニズムによる動揺吸収桟橋の開発

抄録

In the field of marine construction such as off-shore wind power system, traffic ships are used to board/go ashore to the floating structure such as working vessels. However, traffic ships are fluctuated in such environments as tidal waves, and workers face an increased risk of accidents such as falls in the sea and pinched between traffic ships and floating structure. To solve these problems, a new active vibration compensation system on traffic ships is proposed and developed. The system consists of a motion stabilized platform with Stewart Platform type of parallel kinematic mechanism and a catwalk on the platform. The platform is supported on the main hull and kept in a horizontal position by means of the six-degrees-of-freedom hydraulic parallel mechanism which control to absorb motion of the main hull in accordance with the control signal from an on-board computer and motion sensors. System performance has been confirmed by simulation models using the simulation software, MATLAB+Simulink based SimMechanics. A 3/10 scale model of the actual system was developed and stabilized performance of the platform was experimentally verified.