A Collaborative Optimization Method for Hybrid Mechanism in Ship Motion Compensation

Abstract

In ship motion compensation tasks, optimizing the trajectory allocation of mechanisms is essential for enhancing both the efficiency and safety of offshore personnel transfer. In this paper, a method integrating motion perception and operational characteristics of the Stewart-RRP hybrid ship motion compensation mechanism is proposed to optimize collaborative motion within a constrained workspace. Without altering the structural dimensions of the mechanism, the proposed algorithms optimize the trajectories to achieve ship motion compensation over a broader operational range while simultaneously improving personnel comfort. The simulation results demonstrate that in semi-active compensation, the proposed optimization algorithm reduces the maximum residual acceleration by over 60% and the maximum residual angular velocity by over 95% experienced by personnel. In active compensation under severe sea conditions, although an increase in compensation deviation at the end of mechanism is observed, the algorithm still achieves reductions of over 60% in maximum residual acceleration and maximum residual angular velocity for personnel.

Keywords

Hybrid mechanism / Trajectory planning / Multi-objective optimization / Motion perception / Maritime personnel transfer

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