Design Of 6-DOF Ship Motion Simulator

The 6-DOF ship motion simulator as a kind of parallel robot is a rapidly developed and widely used typical motion simulator. In the laboratory, the 6-DOF ship motion simulator can simulate a ship’s swaying attitude, and can experiment on land with put ship-borne weapon, equipment, and instrument on the 6-DOF ship motion simulator. Moreover, it can also verify the reliability of ship-borne weapon, equipment, and instrument so as to reduce the risk, cost and research cycle.Aiming at the 6-DOF ship motion simulator’s environment, special scope, reliability and saving cost, the thesis has proposed a design scheme of the whole systems, which combines 6-DOF Stewart structure and a elevator. In mechanism system and control system, we have finished the error modeling, analysis, and calculation. Moreover, we have also completed the software of moving control, position calculation, and management interface of 6-DOF ship motion simulator via Visual C++.At last, we tested positioning precision and repositioning precision of the 6-DOF ship motion simulator using HEXAGON’s 3-axises measurement system. The results were satisfied with the request of performance indices and achieved the desired results.