@article{oai:nagasaki-u.repo.nii.ac.jp:00026689,
 author = {Morinaga, Akihiro and Ogawa, Takahiro and Iwanaga, Kakeru and Shimomoto, Yoichi and Yamamoto, Ikuo},
 issue = {3},
 journal = {Sensors and Materials},
 month = {Mar},
 note = {Transferring between a ship and an offshore platform is potentially dangerous owing to excessive motion caused by rough conditions. In this paper, we focus on a small vessel with consideration of three degrees of freedom of motion: heaving, rolling, and surging. To stabilize these motions using a relatively small device, we propose an underactuated mechanism including two linear actuators and a two-degree-of-freedom gangway connected to the transfer platform. First, we clarify the degrees of freedom and range of the mechanism. Next, we derive a model and design a controller to stabilize the system. Finally, the effectiveness of the mechanism and its controller are tested by numerical simulation as well as by an actual experiment on a small-scale model of the mechanism., Sensors and Materials, 33 (3), pp. 897-906; 2021},
 pages = {897--906},
 title = {Development of motion reduction device for ship using underactuated parallel link mechanism},
 volume = {33},
 year = {2021}
}