セッションID: 2P1-C01
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
劣駆動パラレルリンク機構による動揺低減装置の開発
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
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.
