1T2R三自由度海浪发电装置设计及运动学分析

赵裕明; 冯海兵

doi:10.37188/OPE.20202809.2035

您当前的位置：

首页 >

文章列表页 >

1T2R三自由度海浪发电装置设计及运动学分析

微纳技术与精密机械 | 更新时间：2020-09-28

- 1T2R三自由度海浪发电装置设计及运动学分析
- Design and kinematics of a 1T2R 3-DOF wave power generating device
- 光学精密工程 2020年28卷第9期页码：2035-2045
- 作者机构：
  
  1.燕山大学机械工程学院, 河北秦皇岛 066004
  2.河北省重型智能制造装备技术创新中心, 河北秦皇岛 066004
- 作者简介：
  
  [ "赵裕明(1983-), 男, 黑龙江绥化人, 博士研究生, 2006年于兰州理工大学获得学士学位, 2009年于燕山大学获得硕士学位, 主要从事并联机器人技术及海浪发电技术的研究。E-mail:420798@qq.com" ]
- 基金信息：
  
  国家自然科学基金重点资助项目(51335007)
- DOI：10.37188/OPE.20202809.2035
  中图分类号： P743;TH112
- 收稿日期：2020-05-21，
  
  修回日期：2020-06-24，
  
  录用日期：2020-6-24，
  
  纸质出版日期：2020-09-25
- 稿件说明：
移动端阅览
赵裕明, 冯海兵. 1T2R三自由度海浪发电装置设计及运动学分析[J]. 光学精密工程, 2020,28(9):2035-2045.

Yu-ming ZHAO, Hai-bing FENG. Design and kinematics of a 1T2R 3-DOF wave power generating device[J]. Optics and precision engineering, 2020, 28(9): 2035-2045.
赵裕明, 冯海兵. 1T2R三自由度海浪发电装置设计及运动学分析[J]. 光学精密工程, 2020,28(9):2035-2045. DOI： 10.37188/OPE.20202809.2035.

Yu-ming ZHAO, Hai-bing FENG. Design and kinematics of a 1T2R 3-DOF wave power generating device[J]. Optics and precision engineering, 2020, 28(9): 2035-2045. DOI： 10.37188/OPE.20202809.2035.

摘要

提出了一种可实现一维移动和二维转动（1T2R）且含有冗余支链的三自由度并联机构，基于该机构设计了一种新型的海浪发电装置。对装置的浮子进行了运动学分析，定量分析了浮子形状和尺寸对波浪能量采集效率的影响。推导了机构的位置反解，建立了机构的速度、加速度映射关系，并进行了运动学仿真。分析机构的工作空间，针对海浪发电装置的实际应用情况定义了运动学性能评价指标，绘制了工作空间内的性能指标分布图。研究结果表明：圆柱体浮子适用于波浪周期变化较小的海域，球形浮子适用于波浪周期变化较大的海域，机构的工作空间满足海浪发电装置浮子的运动要求，且在工作空间内运动学性能良好。该研究为本机构的动力学分析、结构尺度优化及样机研制提供了理论基础。

Abstract

A type of three-degree-of-freedom parallel mechanism with a redundant link that can realize one-dimensional translation and two-dimensional rotation is proposed. A novel wave power generating device is then designed based on this mechanism. The kinematics of a floater in this device are analyzed

and the effects of the shape and size of the floater on wave energy acquisition efficiency are analyzed quantitatively. The inverse displacement formulas of this mechanism are then derived

its velocity and acceleration mapping relations are established

and a kinematics simulation is performed. In addition

the workspace of this mechanism is analyzed

a kinematic performance evaluation index is defined that combines the actual applications of the wave power generating device

and performance index distribution maps in the working space are drawn. The results show that the cylindrical and spherical floats are suitable for sea areas with small and large variation ranges of the wave period

respectively. The working space of the mechanism meets the motion requirements of the float of the wave energy conversion device

and the kinematics character is good. This study provides theoretical foundations for kinematic analysis

structural scale optimization

and prototype development of the mechanism.

关键词

Keywords

references

S H SALTER . Wave power . Nature , 1974 . 249 ( 5459 ): 720 - 724 . DOI: 10.1038/249720a0 http://doi.org/10.1038/249720a0 .

F ANTÓNIO . Wave energy utilization:A review of the technologies . Renewable and Sustainable Energy Reviews , 2010 . 14 ( 3 ): 899 - 918 . http://cn.bing.com/academic/profile?id=cf2f5d8485da73bdeb1e02d9d9513381&encoded=0&v=paper_preview&mkt=zh-cn http://cn.bing.com/academic/profile?id=cf2f5d8485da73bdeb1e02d9d9513381&encoded=0&v=paper_preview&mkt=zh-cn .

R P F GOMES , J C C HENRIQUES , L M C GATO , 等 . IPS 2-body wave energy converter:Acceleration tube optimization . International Journal of Offshore and Polar Engineering , 2010 . 20 ( 4 ): 247 - 255 . http://cn.bing.com/academic/profile?id=c20510aab3ce35377c40400e39105900&encoded=0&v=paper_preview&mkt=zh-cn http://cn.bing.com/academic/profile?id=c20510aab3ce35377c40400e39105900&encoded=0&v=paper_preview&mkt=zh-cn .

J P KOFOED , P FRIGAARD , E FRIIS-MADSEN , 等 . Prototype testing of the wave energy converter wave dragon . Renew Energ , 2005 . 31 ( 2 ): 181 - 189 . http://cn.bing.com/academic/profile?id=9ebfa67c7e11538315d993878ffb9c7f&encoded=0&v=paper_preview&mkt=zh-cn http://cn.bing.com/academic/profile?id=9ebfa67c7e11538315d993878ffb9c7f&encoded=0&v=paper_preview&mkt=zh-cn .

R HENDERSON . Design, simulation, and testing of a novel hydraulic power take-off system for the Pelamis wave energy converter . Renewable Energy , 2006 . 31 ( 2 ): 271 - 283 . DOI: 10.1016/j.renene.2005.08.021 http://doi.org/10.1016/j.renene.2005.08.021 .

HENRY A, DOHERTY K, CAMERON L, et al .. Advances in the design of the oyster wave energy converter[C]. Marine Renewable and Offshore Wind Energy. RINA, Royal Institution of Naval Architects , 2010: 119-128.

R J VAN , Y H YU , K EDWARDS , 等 . Ocean power technology design optimization . International Journal of Marine Energy , 2017 . 20 97 - 108 . DOI: 10.1016/j.ijome.2017.07.010 http://doi.org/10.1016/j.ijome.2017.07.010 .

W X CHEN , F GAO , X D MENG . Kinematics and dynamics of a novel 3-degree-of-freedom wave energy converter . Proceedings of the Institution of Mechanical Engineers , 2019 . 233 ( 3 ): 687 - 698 . DOI: 10.1177/0954407017746296 http://doi.org/10.1177/0954407017746296 .

W X CHEN , F GAO , X D MENG . Oscillating body design for a 3-DOF wave energy converter . China Ocean Engineering , 2018 . 32 ( 4 ): 453 - 460 . DOI: 10.1007/s13344-018-0047-4 http://doi.org/10.1007/s13344-018-0047-4 .

陈伟聪 , 马春翔 , 钱超 , 等 . 新型振荡浮体式并联海浪发电装置的设计与分析 . 可再生能源 , 2015 . 33 ( 6 ): 958 - 964 . http://d.wanfangdata.com.cn/periodical/ncny201506025 http://d.wanfangdata.com.cn/periodical/ncny201506025 .

W C CHEN , CH X MA , CH QIAO , 等 . Design and analysis of a novel oscillating-body wave energy converter . Renewable Energy Resources , 2015 . 33 ( 6 ): 958 - 964 . http://d.wanfangdata.com.cn/periodical/ncny201506025 http://d.wanfangdata.com.cn/periodical/ncny201506025 .

陶尧森 , 冯铁城 , 丁皓 . 舰船优化设计中耐波性计算方法的探讨 . 船舶力学 , 2000 . 4 ( 2 ): 6 - 11 . http://www.cqvip.com/Main/Detail.aspx?id=4326897 http://www.cqvip.com/Main/Detail.aspx?id=4326897 .

Y S TAO , T CH FENG , H DING . A discussion on seakeeping prediction method in ship optimization design . Journal of Ship Mechanics , 2000 . 4 ( 2 ): 6 - 11 . http://www.cqvip.com/Main/Detail.aspx?id=4326897 http://www.cqvip.com/Main/Detail.aspx?id=4326897 .

苏纪兰 , 袁立业 . 中国近海水文 , : 北京海洋出版社 , 2005 .

J L SU , L Y YUAN . Offshore hydrology of China , : Beijing China Ocean Press , 2005 .

李仕华 , 孙静 , 单彦霞 , 等 . 空间光学镜并联指向机构优化 . 光学精密工程 , 2019 . 27 ( 3 ): 637 - 644 . http://ope.lightpublishing.cn/thesisDetails?columnId=2104332&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2104332&Fpath=&index=-1&l=zh .

SH H LI , J SUN , Y X SHAN , 等 . Optimization of novel parallel pointing mechanism for space optical mirror . Opt. Precision Eng. , 2019 . 27 ( 3 ): 637 - 644 . http://ope.lightpublishing.cn/thesisDetails?columnId=2104332&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2104332&Fpath=&index=-1&l=zh .

赵裕明 , 金振林 . 含有冗余支链的3-RPS/3n-SPS并联机构逆动力学建模 . 光学精密工程 , 2019 . 27 ( 4 ): 807 - 819 . http://ope.lightpublishing.cn/thesisDetails?columnId=2103908&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2103908&Fpath=&index=-1&l=zh .

Y M ZHAO , ZH L JIN . Inverse dynamics modeling of 3-RPS/3n-SPS parallel mechanism with redundant limbs . Opt. Precision Eng. , 2019 . 27 ( 4 ): 807 - 819 . http://ope.lightpublishing.cn/thesisDetails?columnId=2103908&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2103908&Fpath=&index=-1&l=zh .

叶伟 , 杨臻 , 李秦川 . 一种远中心并联机构运动学与性能分析 . 机械工程学报 , 2019 . 55 ( 5 ): 65 - 73 . http://www.cnki.com.cn/Article/CJFDTotal-JXXB201905010.htm http://www.cnki.com.cn/Article/CJFDTotal-JXXB201905010.htm .

W YE , ZH YANG , Q CH LI . Kinematics and performance analysis of a parallel manipulator with remote center of motion . Journal of Mechanical Engineering , 2019 . 55 ( 5 ): 65 - 73 . http://www.cnki.com.cn/Article/CJFDTotal-JXXB201905010.htm http://www.cnki.com.cn/Article/CJFDTotal-JXXB201905010.htm .

叶鹏达 , 尤晶晶 , 沈惠平 , 等 . 具有解析式正解的Stewart衍生型并联机构的位移输入协调关系 . 光学精密工程 , 2020 . 28 ( 1 ): 151 - 165 . http://ope.lightpublishing.cn/thesisDetails?columnId=2096950&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2096950&Fpath=&index=-1&l=zh .

P D YE , J J YOU , H P SHEN , 等 . Displacement input coordination of Stewart derivative parallel mechanism with analytical positive solution . Opt. Precision Eng. , 2020 . 28 ( 1 ): 151 - 165 . http://ope.lightpublishing.cn/thesisDetails?columnId=2096950&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2096950&Fpath=&index=-1&l=zh .

赵裕明 , 金振林 . 基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计 . 机械工程学报 , 2019 . 55 ( 23 ): 93 - 102 .

Y M ZHAO , ZH L JIN . Optimal design of wave power generating device based on a parallel mechanism with 3-RPS/3-SPS redundant link . Journal of Mechanical Engineering , 2019 . 55 ( 23 ): 93 - 102 .

浏览量

450

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

并联坐标测量机研究进展

支链偏置的并联机构工作空间分析及尺度综合

并联宏/微驱动操作手工作的空间分析

并联式六维加速度感知机构的操作性能研究进展