引用本文: 于影, 孟庆鑫, 王立权, 殷宝麟, 王磊. 用6-RUS型并联机构实现海上补给自动对接的关键技术[J]. 机器人, 2011, 33(1): 28-34.
YU Ying, MENG Qingxin, WANG Liquan, YIN Baolin, WANG Lei. Key Technologies of Automatic Docking for Replenishment at Sea with the 6-RUS Parallel Mechanism[J]. ROBOT, 2011, 33(1): 28-34.
 Citation: YU Ying, MENG Qingxin, WANG Liquan, YIN Baolin, WANG Lei. Key Technologies of Automatic Docking for Replenishment at Sea with the 6-RUS Parallel Mechanism[J]. ROBOT, 2011, 33(1): 28-34.

## Key Technologies of Automatic Docking for Replenishment at Sea with the 6-RUS Parallel Mechanism

• 摘要: 提出了用6-RUS型并联机构来实时调整对接喇叭口的位姿状态以实现海上补给中的自动对接．首先，对该机构支链的相对位置关系及约束进行了讨论，建立了该机构的逆运动学模型；其次，对该机构支链的受力情况进行了理论分析，基于凯恩方程建立了该机构的逆动力学模型；最后，对该机构在运动过程中电机输出转角及输出扭矩进行了数值仿真．仿真结果表明，理论模型可以很好地预测各电机的输出转角及输出扭矩，为海上补给中实现自动对接提供了理论依据．

Abstract: To implement the automatic docking for replenishment at sea,a 6-RUS parallel mechanism is presented to realize real-time adjustment of position and orientation for bell mouth docking.First,the relative position and structure constraints of the legs of the mechanism are discussed,and the inverse kinematics model is developed.Next,the force situation of the legs of the mechanism is analyzed theoretically.And then the inverse dynamics model using Kane's equation is developed.The numerical simulation is developed to solve the evolution of drive angle and drive torque in the moving process of the mechanism.The simulation results show that the proposed kinematics model of 6-RUS parallel mechanism can predict the drive angle and torque exactly,so that the model can provide a sound theoretical basis for automatic docking in replenishment at sea.

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