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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials, Volume 33, Number 3(1) (2021)
Copyright(C) MYU K.K.
pp. 897-906
S&M2503 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2021.3258
Published: March 5, 2021

Development of Motion Reduction Device for Ship Using Underactuated Parallel Link Mechanism [PDF]

Akihiro Morinaga, Takahiro Ogawa, Kakeru Iwanaga, Yoichi Shimomoto, and Ikuo Yamamoto

(Received January 6, 2021; Accepted February 19, 2021)

Keywords: parallel link mechanism, nonlinear control, offshore device

Transferring between a ship and an offshore platform is potentially dangerous owing to excessive motion caused by rough conditions. In this paper, we focus on a small vessel with consideration of three degrees of freedom of motion: heaving, rolling, and surging. To stabilize these motions using a relatively small device, we propose an underactuated mechanism including two linear actuators and a two-degree-of-freedom gangway connected to the transfer platform. First, we clarify the degrees of freedom and range of the mechanism. Next, we derive a model and design a controller to stabilize the system. Finally, the effectiveness of the mechanism and its controller are tested by numerical simulation as well as by an actual experiment on a small-scale model of the mechanism.

Corresponding author: Akihiro Morinaga


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Cite this article
Akihiro Morinaga, Takahiro Ogawa, Kakeru Iwanaga, Yoichi Shimomoto, and Ikuo Yamamoto, Development of Motion Reduction Device for Ship Using Underactuated Parallel Link Mechanism, Sens. Mater., Vol. 33, No. 3, 2021, p. 897-906.



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