一种具有波浪补偿和防晃功能的船用起重机

船用特种起重机是指在海浪环境中进行起吊作业的专用起重机器人，其需要解决的主要问题是波浪运动的补偿和摆动的抑制。本文针对此采用并串联结构机器人的理论和技术，提出了能实现海浪补偿与防晃一体化的起重机方案，对方案的机构原理、测量方法、控制方法和非对称液压缸的建模等都进行了具体的分析与论证。最后得出结论：现有技术水平能够实现海浪补偿与防晃一体化，研制特种起重机是可行的。本项研究的科学意义在于探索在海浪环境

The marine crane is a special lifting robot used in wave environment. Wave compensation and oscillation reduction are the main problems that need to be solved. A crane scheme incorporating wave compensation and anti-oscillation using the theory and technology of parallel and serial robot mechanism is suggested in the article. The mechanism principle, measuring and control method, model building of non-symmetrical hydraulic cylinder are analyzed and verified. The conclusion derived is: it is possible to real...