Kinematics Behaviors Evaluation of a Naval Ship Survival Training Simulation System in Case of Longitudinal Shaking

This paper focuses on studying and analyzing the kinematics characteristics of the Naval Ship Survival Training Simulation System (NSSTSS) in the case of longitudinal shake of the anti-sinking chamber on the ship. Based on the analysis of the motion state and the designed system structures, a mathematical model of the system is established. Geometric and analytical analyses methods based on mechanical theory allow determining the relationship between the kinematics characteristic parameters of the system. With the piston-cylinder active drive system, the kinematics motion characteristics of each part are determined including their position, velocity and acceleration. Accordingly, the forward kinematics (FK) and inverse kinematics (INV) problems are considered and analyzed based on actual system parameters. With the piston stroke limited to oscillation within 80mm in both directions, the longitudinal shake angle of the anti-sinking chamber does not exceed 3.9 (degree). The angular velocity and angular acceleration values of the corresponding joints are determined according to the input kinematics values of the piston. With the requirement that the anti-sinking chamber has an actual longitudinal shake value not exceeding 2 (degree) in both directions according to real-time constraints, the required linear motion value, velocity and acceleration of the piston in the cylinder are specifically determined through the INV problem. The research results serve as the basis for analyzing the system's movement capability, accurately controlling the positions of interest and contributing to completing the problem of describing the overall motion state of the entire system.