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一种新型船用起重机综合补偿系统原理及运动学模型

DOI: 10.16411/j.cnki.issn1006-7736.2015.01.008, PP. 37-41

Keywords: 船用起重机,综合补偿,系统原理,运动学模型

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Abstract:

针对深水吊装作业摆动抑制和升沉补偿问题,提出一种新型船用起重机综合补偿系统.在船用起重机底座加装防摇平台,使船用起重机保持平稳.船舶升沉运动则由液压绞车补偿,从而降低综合补偿的能耗.介绍综合补偿系统的组成和原理,并进行系统的运动学建模,求得在船舶横摇角、纵摇角、升沉条件下各个转动关节的关节角及对应液压缸的长度.

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