Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
Due to the wave, it is dangerous for the crew to transfer from ship to port and offshore platform. Accordingly, some large vessel are equipped a movement reduction device using parallellink mechanism. However, they are too big and expensive to put on the smaller ship such as pleasure cruiser. In this paper, we derive the model of the under-actuated parallel link mechanism for the motion reduction device. For simplicity, planner closed-link with 4 rotational joints and 2 linear actuators is considered. Then a controller is designed for each case with and without gravity.
