Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32009
Dynamic Analysis of Offshore 2-HUS/U Parallel Platform

Authors: Xie Kefeng, Zhang He


For the stability and control demand of offshore small floating platform, a 2-HUS/U parallel mechanism was presented as offshore platform. Inverse kinematics was obtained by institutional constraint equation, and the dynamic model of offshore 2-HUS/U parallel platform was derived based on rigid body’s Lagrangian method. The equivalent moment of inertia, damping and driving force/torque variation of offshore 2-HUS/U parallel platform were analyzed. A numerical example shows that, for parallel platform of given motion, system’s equivalent inertia changes 1.25 times maximally. During the movement of platform, they change dramatically with the system configuration and have coupling characteristics. The maximum equivalent drive torque is 800 N. At the same time, the curve of platform’s driving force/torque is smooth and has good sine features. The control system needs to be adjusted according to kinetic equation during stability and control and it provides a basis for the optimization of control system.

Keywords: 2-HUS/U platform, Dynamics, Lagrange, Parallel platform.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 826


[1] Z. Y. Wang, B. Zhang, and G. H. Liu, “Application and Foreground of the Floating Structures,” China Offshore Platform, vol. 24, no. 1, pp.10-14, Feb. 2009.
[2] H. J. Deng. Study on stability and Mooring System Performance of Offshore Floating Turbine Foundation. Harbin: Harbin Engineering University, 2012, pp. 2-4.
[3] Q. J. Lu, Z. H. Yang, “Probabilistic dynamic optimization design for support structure of offshore wind turbines,” Journal of vibration and shock, vol. 32, no. 17, pp.46-51, July, 2013.
[4] Z. W. Hu, H. Chen, J. P. Liu, ‘’Talang Elf-unmanned surface warship,” Modern Military, vol. 29, no. 12, pp.44-46, Dec. 2004.
[5] T. H. Ren. Design and Research of Servo System of Shipboard Stabilized Platform. Xia men: Xia men University, 2014, pp. 6-7.
[6] X. Liu, T. S. Zhao, and J. W. Gao, “Dynamic Modeling and Analysis of Ship-based Stabilizing Platform in Non-inertial System,” ROBOT, vol. 36, no. 4, pp.411-418, July, 2014.
[7] X. Y. Sun, Z. J. Xie, K. L. Zhai, and J. Zhang, “Dynamic Analysis and Simulation of 6-PSS Flexible Parallel Robot,” Transactions of the Chinese Society for Agricultural Machinery, vol. 43, no. 7, pp. 194-205, July, 2012.
[8] H. W. Luo, J. Zhang, H. Wang, and T. Huang, “An Elastodynamic Modeling Method for a 3-RPS Parallel Kinematic Machine,” ROBOT, vol. 36, no. 6, pp. 737-743, 750. Nov. 2014.
[9] S. Z. Liu, Y. Q. Yu, Q. B. Liu, L. Y. Su, and G. N. Si, “Dynamic Analysis of 3-RRC Parallel Manipulator,”. Journal of Mechanical Engineering, vol. 45, no. 5, pp. 220-224, May, 2014.
[10] Z. Huang, Y. S. Zhao, T. S. Zhao, Advanced Spatial Mechanism. Beijing: Higher Education Press,2006, ch. 5.
[11] K. X. Li, H. Zhang, “Motion Simulation of Stabilized Platform with Parallel Mechanism,” Computer Simulation, vol. 30, no. 8, pp.212-215, Aug. 2013.
[12] J. W. Zhao, X. G. Ruan, “Modeling and Control of a Flexible Two-wheel Upright Self-balance Humanoid Robot,” ROBOT, vol. 31, no. 2, pp.179-186, Mar. 2009.
[13] X. Wang, X. G. Yuan, X. Yang, “Research on Multi-Body Separation Dynamics Using Lagrange Method,” Journal of Northwestern Polytechnical University, vol. 32, no. 1, pp.18-22, Feb. 2014.
[14] M. Richard, Z. X. Li, and S. Charnka, A Mathematical Introduction to Robotic Manipulation. Beijing: China Machine Press,1997, ch. 4.