Dynamic modeling and analysis of a novel offshore gangway with 3UPU/UP-RRP series-parallel hybrid structure

Niu, Anqi; Wang, Shenghai; Sun, Yuqing; Qiu, Jianchao; Qiu, Weihan; Chen, Haiquan

doi:10.1016/j.oceaneng.2022.113122

Cited by 13 publications

(3 citation statements)

References 21 publications

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“…The absolute velocity screw matrix 0 V n , the absolute displacement vector 0 D n , and the absolute acceleration vector 0 A n can be obtained by calculating the angular displacement n−1 θ p n (t = 0) with Equation (15). The results can be applied to the kinematics analysis of any point on a single-rigid-body.…”

Section: Absolute Displacement Velocity and Acceleration Of Each Jointmentioning

confidence: 99%

“…Newton-Euler equations can express the rotational and translational motion of a rigid body in the absolute coordinate system. Through a single equation with six components in the form of column vectors and matrix, the forces and moments acting on the rigid body and the motion of the center of mass of a rigid body can be combined [13][14][15]. Gallardo-Alvarado [16,17] proposed dynamics analysis of parallel mechanisms by screw coordinates and the principle of virtual work.…”

Section: Introductionmentioning

confidence: 99%

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Computational Dynamics of Multi-Rigid-Body System in Screw Coordinate

2023

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This paper investigates the kinematics and dynamics of multi-rigid-body systems in screw form. The Newton–Euler dynamics equations are established in screw coordinates. All forces and torques of the multi-rigid-body system can be solved straightforwardly since they are explicit in the form of screw coordinates. The displacement and acceleration are unified in matrix form, which associates the kinematics and dynamics with variable of velocity. A one-step numerical algorithm only is needed to solve the displacements and accelerations. As a result, all absolute displacements, velocities, and accelerations are directly obtained by one kinematic equation. The kinematics and dynamics of Gough–Stewart platform validate this the method. In this paper, the kinematics and dynamics are carried out with the example of a Gough–Stewart platform, which represents the most complex multi-rigid-body system, to verify the computational dynamics method. The proposed algorithm is also fit for the kinematics and dynamics modeling of other multi-rigid-body systems.

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Section: Absolute Displacement Velocity and Acceleration Of Each Jointmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Computational Dynamics of Multi-Rigid-Body System in Screw Coordinate

2023

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“…However, redundantly actuated parallel mechanisms present challenges in dynamic modeling due to their complexity and computational requirements. Several methods have been proposed to analyze the dynamics of multi-rigid-body systems, including Lagrange equations [2,3], Newton-Euler equations [4][5][6], virtual work principles [7][8][9][10], Kane equations [11,12], and Gibbs-Appell equations [13,14]. The analysis of multi-rigid-body systems often relies on mathematical methods from classical mechanics and vector equations [7,15].…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism

Zhao,

Sun,

Wei

2023

Machines

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In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.

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