Six Degrees Of Freedom Ship Simulated Rocking Platform Motion System Analysis And Research

The paper lays analysis and research on th motion system in reference to the project concerning the research and development of six-degree freedom roll platform carried out by an institution. To meet technical requirements from clients, the paper chooses from different models of roll platforms, and brings forth the designing principles along with its chief structural specifications. By means of coordinates, the paper describes the position and pose of a platform rigid body, hence establishing a forward kinematics model, a 9-dimension and not more than square groups of quintic equations. Regarding the reverse solution to platform kinematics, the paper gives a quick arithmetic program while concerning the forward solution to platform kinematics, on the basis of the models of forward solution after simplified eliminant, the paper makes an improvement and acceleration on quasi-Newton method, thus finding a sound forward numeric solution. Moreover the paper works out 40 groups of directive solutions by way of WU-Ritt arithmetic in research of forward analytic solution through programmed calculation and in a further step 10-group valid solutions are sought by means of sieving on all solutions according to actual platform parameters. In order to verify kinematics solutions, the author designs an emulation software-supported program frame and draws emulation pictures of the platform in different positions, which proves that the kinematics forward solutions are valid and feasible in actual application.The paper presents how to make pose error diagnosis via Bayes Diagnosis, in which errors are analyzed by error-amplifying factorial method, thus on the basis of the conclusion bringing forth the installation of the six-degree freedom roll platform simulating sailing ships, and as a result of the analysis on the kinematics realizing the project in designing the six-degree freedom roll platform system simulating sailing ships.