Sage Journals: Discover world-class research

Abstract

This article presents a coupling 3-PSR/PSU parallel mechanism for ship-based stabilized platform based on the coupling characteristics of the ship motions. With coupling characteristics, the goal of 3-axis drives and 5-axis compensation of the moving platform is achieved. From the screw theory, degrees-of-freedom and coupling kinematic characteristics of the mechanism are analyzed. A method for equivalent transformation of motion parameters is proposed. This presents a mapping relationship between the independent degrees-of-freedom and the coupling degrees-of-freedom. The investigations are further extended to the coupling dynamics characteristics of the mechanism. In particular, the effects produced by the coupling force/torque to the system are analyzed. Hence, taking minimum system driving force as the optimization goal, the coupling dynamic equation of the parallel mechanism is established. The numerical example reveals that this coupling parallel mechanism can be applied to the multi-axis compensation of ship-based stabilized platform. The study also enriches the application area of lower-mobility parallel mechanism.

Keywords

Ship-based stabilized platform parallel mechanism coupling characteristics equivalent transformation of motion parameters dynamic equation

Get full access to this article

View all access options for this article.

References

Keller

Smith

. Experiment and theoretical correlation of helicopter rotor blade-droop stop impacts. J Aircraft 1999; 36(2): 443–450.

Yang

. Simulation study of ship’s movement regularity and anti-rolling technology under high-wave-level environment. Ship Eng 2006; 28(2): 24–29.

Haddara

. Real-time estimation of wave induced ship hull bending moment. J Shanghai Jiaotong Univ 2003; 37(8): 1219–1225.

Kamel

. Bifurcation analysis of a nonlinear coupled pitch-roll ship. Math Comput Simul 2007; 73(5): 300–308.

Bowling

Khatib

. The dynamic capability equations: a new tool for analyzing robotic manipulator performance. IEEE Trans Robot 2005; 21(1): 115–123.

Zhou

Chen

. Stability and bifurcation analysis for a model of a nonlinear coupled pitch-roll ship. Math Comput Simul 2007; 79(2): 149–166.

Huang

Kong

Fang

. Mechanism theory and control of parallel robot, Beijing: China Machine Press, 1997.

Dasgupta

Mruthyunjaya

. Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach. Mech Mach Theory 1998; 33(7): 993–1012.

Gallardo

Rico

Frisoli

. Dynamics of parallel manipulators by means of screw theory. Mech Mach Theory 2003; 38: 1113–1131.

10.

. A unified method to find active forces and passive wrench of some parallel manipulators with n SPS active legs and a passive leg. Proc IMechE, Part C: J Mechanical Engineering Science 2007; 221(4): 467–478.

11.

Codourey

. Dynamic modeling of parallel robots for computed-torque control implementation. Int J Robot Res 1998; 17(12): 1325–1336.

12.

Hunt KH. Structural kinematics of in-parallel-actuated robot-arms. In: Design and production engineering technical conference, Washington DC, USA, 1982, pp. 12–15.

13.

Lee KM and Shah DK. Kinematic analysis of a three-degree-of-freedom in parallel actuated manipulators. In: IEEE international conference on robotics and automation, Washington DC, USA, 1988, pp. 354–360.

14.

Clavel R. Device for the movement and positioning of an element in space. Patent US4976582, USA, 1989.

15.

Tsai LW, Walsh GC and Stamper RE. Kinematics of a novel three DOF translational platform. In: IEEE international conference on robotics and automation, Minneapolis, USA, 1996, pp. 3446–3451.

16.

Zhao TS and Huang Z. A novel three-DOF translational platform mechanism and its kinematics. In: Design engineering technical conferences, Baltimore, United Maryland, MECH-14101, 2000.

17.

Joshi

Tsai

. Jacobian analysis of limited-DOF parallel manipulators. J Mech Des 2002; 124(2): 254–258.

18.

Nahon

Angeles

. Optimization of dynamic forces in mechanical hands. Mech Des 1991; 113: 167–173.

19.

Kokkinis

Millies

. Parallel robot-arm regional structure with actuation redundancy. Mech Mach Theory 1991; 26(6): 629–641.

20.

Huang

Zhao

. Advanced spatial mechanism, Beijing: Higher Education Press, 2006.

21.

Hamamoto

Kim

. A new coordinate system and the equations describing maneuvering of a ship in waves. J Soc Naval Architects Jpn 1994; 173: 209–220.

22.

Ball

. A treatise on the theory of screws, Cambridge: Cambridge University Press, 1900.

23.

Davidson

Hunt

. Robots and screw theory: applications of kinematics and statics to robotics, Oxford: Oxford University Press, 2004.

24.

Zhao

Huang

. Physical and mathematical conditions of existence of axes about which platform of deficient-rank parallel robots can rotate continuously. Robot 1999; 21(5): 347–351.

25.

Han

Wang

Gao

. Influences of pitch or roll of ship on transient are elastic response of rotor blade. Helicopyer Tech 2007; 3: 34–38.

Coupling 3-PSR/PSU 5-axis compensation mechanism for stabilized platform and its analysis

Abstract

Keywords

Get full access to this article

References