| 摘要 |
<p>The present invention relates to a motion compensation device (1) for compensating a load carried by a gripper (65) attached to a manipulator (53) on a vessel (3) for water motion. The motion compensation device (1) comprises a carrier frame (2) supported by at least three vertical cylinder- piston units (4,5,6) on the vessel, a sensor system (8), a control system (9), a mechanical constraining system (18, 19, 20) limiting movement of the carrier fame (2) to x-axis rotation, y-axis rotation and optionally z-axis translation; and a heave compensator (60) arranged between the gripper (65) and the manipulator (53).</p> |
