Research on Dynamic Characteristics of Bridge-Type Transshipment Device Based on the Action of Rolling Ship

This paper proposes a novel bridge-type transshipment device composed of six boards. It establishes a reliable connection channel between a stationary platform and a rocking ship through the connection pairs between the boards. The paper develops a D-H parameter model of the device based on the working principle of the bridge-type transshipment device, achieving homogeneous transformation between the earth coordinate system and the coordinate systems fixed to each board. Simulation of the motion state of the bridge-type transshipment device was carried out using the ADAMS virtual prototype, resulting in the relative motion trajectories between the boards and the attitude changes of the boards relative to the reference coordinate system. Analysis shows that, under sea state 5, there are no dead points in the movement of the board connectors within the bridge barge device, and there is no motion interference between components. The sea state level has a certain impact on the attitude changes of the boards, and both the relative motion parameters between the boards and the magnitude of attitude change relative to the reference coordinate system are positively correlated with the sea state level.