Abstract: Aiming at the problem of onshore wave simulation in the development of ships and marine equipment, the mechanical structure design, workspace analysis and motion control system of a 3DOF wave simulator using a 3DOF parallel mechanism were studied. The inverse kinematics analysis of the 3-RPS parallel mechanism based on Euler angles was derived. The working space of the wave simulator was calculated by using the boundary search method in Matlab. The 3D model of the wave simulator was built using SolidWorks, the kinematics and dynamics simulation was performed, the parts of the wave simulator were machined and assembled. The Googol embedded motion controller was used as the control core to design a complete control system. After the analysis of the motion model of the ship under the influence of the waves, the ship motion sample under the specific wave environment was obtained, and the sample was used to test the wave simulator. The results indicate that the simulator has complete wave simulation functions including automatic curve following, manual control,and other functions.
Key words: wave simulation; 3-RPS parallel mechanism; workspace; motion control