###### Abstract  
Conventional ship mooring in ports has many shortcomings such as a high safety risk, low efficiency and high labor intensity. In order to explore and develop the theory and key technologies of intelligent automatic mooring systems, this paper takes an intelligent mooring system based on a parallel anti-rolling mechanism as the research and development object. A new mooring method integrating ship hydrodynamics, mechanism kinematics and intelligent algorithms is proposed. Through numerical simulation and comparative analysis of the model, the motion inhibition effect of mooring ships under different working conditions is obtained. The results show that the control strategy and intelligent algorithm of the system can realize the active control of the wharf mooring ships and achieve the goal of improving wharf stability conditions through an intelligent mooring system. mooring; intelligent; parallel platform; exercise; the berthing conditions +
Footnote †: journal: Medical  
characteristics of being safe, efficient, economical and environmentally protective--as an important aspect of intelligent ports--has led to mooring procedures increasingly paying more attention to automation; the urgency of this demand is gradually increasing and ship mooring--instead of traditional cable arrangements--will be a developing trend in the future [16]. Figure 1 shows automated mooring devices, represented by products from European companies, that have been applied. In addition, concerning the theoretical research methods of intelligent mooring systems, as an automatic mooring system involves the modeling of multi-body dynamic systems controlled by fluid-structure coupling field forces and robots, their solution is very complex; thus, empirical conclusions are usually obtained by theoretical simplification, numerical simulation or model tests. However, the relevant published research data are relatively limited. [PERSON] et al. (2010) [17] used the MoorMasterTM system unit developed by Cavotec to combine various numerical models to calculate a mooring ship's motion in a harbor pool; they compared the simulation results of the MoorMasterTM unit's influence on the mooring ship's motion with the measured results and drew conclusions. [PERSON] et al. (2014) [18] simulated a 3000 TEU container ship and compared the MoorMasterTM with traditional mooring cables and ShoreTeness@mooring systems to test whether such mooring systems can reduce the berthing time in an exposed dock. [PERSON] (2010) [19] verified the inhibition effect of MoorMasterTM mooring system on ship horizontal motion through numerical solution. In China, [PERSON] (2014) [20] carried out the structural design and finite element analysis of an automatic mooring system at a port, adopted the hypothesis verification method to design its mechanism and then verified the correctness of the design through finite element analysis. [PERSON] (2020) [21] carried out the design and analysis of an energy regenerative automatic mooring device, adopted the sliding block spring module to simulate the effect of sea waves on the generalized ship and analyzed the influence of damping on the ship's motion response. [PERSON] et al. (2022) [22] proposed a new robot mooring system based on an underactuated mechanism, established the global stiffness model of the mooring robot system based on the influence coefficient method and obtained the stiffness matrix in the form of the tensor. Figure 1: In Europe, some terminal automatic mooring equipment has been developed and applied. In this paper, an intelligent mooring system based on a parallel anti-rolling mechanism is developed, and a new mooring method integrating ship hydrodynamics, mechanism kinematics and intelligent algorithms is proposed. First, in Section 2, the mooring motion equation is analyzed based on the action mechanism and load characteristics of the intelligent mooring system on ship motion, and the intelligent mooring motion equation in the time domain is obtained.