Analysis and configuration of docking adjusting mechanism for replenishment at sea

Author

Yu, Ying ; Yin, Baolin ; Liu, Guizhen ; Li, Xianzhi

Author_Institution

Sch. of Mech. Eng., Univ. of Jiamusi, Jiamusi, China

fYear

2012

fDate

6-8 June 2012

Firstpage

66

Lastpage

71

Abstract

According to the floating body docking for replenishment at sea successfully, this paper analyzes the motion characteristics and freedom degree distribution of the docking adjusting mechanism. Based on Screw Theory, discussing the configuration of docking adjusting mechanism with single-type and combination-type, synthesize 19 basic motion types, and put out a single-closed-transmission-chain mechanism viable. Through propose 2-RPU-C single-closed-transmission-chain mechanisms and evolved three types of new mechanisms. Analyze and compare the advantages and disadvantages of a variety of configurations to choose the better, provide a viable analytics method for tubing accurate docking at sea.

Keywords

manipulator kinematics; marine systems; motion control; power transmission (mechanical); 2-RPU-C single-closed-transmission-chain mechanisms; docking adjusting mechanism; floating body docking; floating body kinematics; screw theory; sea replenishment; single-closed-transmission-chain mechanism; tubing method; Actuators; Connectors; Fasteners; Fuels; Kinematics; Marine vehicles; Redundancy; Configuration of mechanism; docking adjusting mechanism; replenishment at sea; single-closed-transmission-chain mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2012 International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4673-2238-6

Electronic_ISBN

978-1-4673-2236-2

Type

conf

DOI

10.1109/ICInfA.2012.6246784

Filename

6246784