Kinematics Analysis of a Novel 4-dof Stabilized Platform

被引：0
|
作者：
Wang, Xuelei [1 ]
Huang, Jie [1 ]
Li, Chuanjun [1 ]
Wu, Taiyu [1 ]
Zhang, Bin [1 ]
机构：
[1] China Agr Univ, Coll Engn, Beijing 100083, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Stabilized platform; shipboard helicopter; kinematics; optimization; control; PARALLEL MANIPULATORS; MECHANISM; SINGULARITY; WORKSPACE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel stabilized platform with three UPS-type and one RPU-type active limbs based on the shipboard helicopter's landing process and its kinematics are studied systematically. First, a prototype of this stabilized platform is constructed and its dof is analyzed, Second, analytic formulas for solving the inverse displacement kinematics are derived Third, analytic formulas for solving the forward displacement kinematics are derived and verified. Theoretical formulas and results provide a basis for the further optimization, control, and manufacturing.
引用
收藏
页码：10029 / 10033
页数：5
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