Browse > Article

Active Control of a Ship Cabin Motion Using 3-DOF Parallel Robots  

배종국 (현대중공업㈜ 선박해양연구소)
심호석 (영남대학교 기계공학과 대학원)
이재원 (영남대학교 기계공학과)
주해호 (영남대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.1, 2004 , pp. 116-123 More about this Journal
Abstract
The demand for the stable and comfortable cabin of a high speed passenger ship is increasing. The study on shipboard comfort has been mainly concentrated on the motion control of a whole hull body. In this study, however, a new control system operated by two parallel robots (3RPS, 3SPR) such as the active suspension system of motor vehicle is proposed. The goal of this control is keeping zero velocity of the upper robot (cabin) although the lower robot (ship) is moving by the waves. Jacobian matrix was used to design the controller, From the simulation results, the remarkable reduction of motion of the cabin (upper platform) was observed. The 3SPR parallel robot shows better performance compared to the 3RPS robot.
Keywords
3RPS; 3SPR; Active control; Parallel manupulator; Vibration;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Takahashi, T., Arinaga, S. 'Investigation into the Technical Feasibility of a Hi-Stable Cabin Craft,' Transaction of the West-Japan Society of Naval Architechs, Vol. 72, 1986
2 Lung-Wen Tsai, 'Robot analysis : the mechanics of serial and parallel manipulators', pp.147-151, JOHN WILEY & SONS, 1999
3 'MSC.visual Nastran Desktop', MSC software
4 'Using Simulink', The MathWorks, Vesion 5
5 J.K.Kim, 'Development of attitude control system for high-speed foil-assisted catamaran considering modelling uncertainties', Ph. D Thesis, Seoul National University, Dep fNaval Architecture and Ocean Engineering, 1997
6 J.S.Lee, B.O.Choi, 'Forward Kinematics Analysis of a Parallel Manipulator Using Neural Network', Fall conference of KSPE 2000 pp. 224-228, 1225-9071   과학기술학회마을
7 J.I. Ko, J.W.Lee, 'LQG controller Design and Robustness Analysis for Reduction of the Motion of Ship Cabin', M.S Thesis, Yeungnam University, Dept of Mechanical Engineering, 2003