In the process of replenishment at sea, in order to ensure the safety of workers and cargo on the deck, collisions between the cargo and the deck or cargo should be at least reduced if not avoided. Considering the actual situation of the marine environment, a fourdegree- of-freedom rope-driven rigid-flexible hybrid wave compensation mechanism for offshore hoisting equipment is proposed. First, based on the screw theory, the feasibility of a wave compensation mechanism was verified, and the experimental device of the wave compensation mechanism was designed. Then, a positional forward/reverse solution model of the wave compensation mechanism was established based on the algebraic method. Then, the kinematics model of the wave compensation mechanism was derived and the system dynamics model of the wave compensation mechanism was established based on Newton-Eulerian method. The simulation software was used to verify the derived mathematical model. It was found that the positional positive/negative solution error of the wave compensation mechanism was of the order of 10^-5 mm; the MATLAB numerical simulation results and the Adams virtual prototype results of the kinematics and dynamics models were basically consistent. The maximum error was 2.4 % of the theoretical value, which is an acceptable range. The correctness of the derived kinematics and dynamics model was verified. The research results provide a theoretical basis for further performance analysis and motion control of the wave compensation mechanism.

在海上补给过程中，为了确保工作人员和货物在甲板上的安全，应避免或避免至少减少货物与甲板或货物之间的碰撞。结合海洋环境的实际情况，提出了一种用于海上起重设备的四自由度绳索驱动的刚柔混合波浪补偿机构。首先，基于螺旋理论，验证了波动补偿机构的可行性，设计了波动补偿机构的实验装置。然后，基于代数方法建立了波动补偿机构的位置正反求解模型。然后，推导了波动补偿机构的运动学模型，并基于牛顿-欧拉方法建立了波动补偿机构的系统动力学模型。仿真软件用于验证导出的数学模型。发现波动补偿机构的位置正/负解误差约为10^-5毫米; 运动学和动力学模型的MATLAB数值模拟结果与Adams虚拟样机结果基本一致。最大误差为理论值的2.4％，这是一个可接受的范围。验证了导出的运动学和动力学模型的正确性。研究结果为进一步的波动补偿机构性能分析和运动控制提供了理论依据。