Analysis and configuration of docking adjusting mechanism for replenishment at sea

According to the floating body docking for replenishment at sea successfully, this paper analyzes the motion characteristics and freedom degree distribution of the docking adjusting mechanism. Based on Screw Theory, discussing the configuration of docking adjusting mechanism with single-type and combination-type, synthesize 19 basic motion types, and put out a single-closed-transmission-chain mechanism viable. Through propose 2-RPU-C single-closed-transmission-chain mechanisms and evolved three types of new mechanisms. Analyze and compare the advantages and disadvantages of a variety of configurations to choose the better, provide a viable analytics method for tubing accurate docking at sea.