| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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|---|---|---|
| Article Number | 04020 | |
| Number of page(s) | 17 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804020 | |
| Published online | 15 December 2023 | |
4-RRS PKM for stabilisation on a mobile sensor platform
1 Centre for Robotics and Future Production, CSIR, Pretoria, South Africa
2 School of Mechanical, Industrial & Aeronautical Engineering, University of the Witwatersrand, Johannesburg, South Africa
* Corresponding author: kramruthan@csir.co.za
Disturbances experienced by an inspection robot can reduce the quality of its sensor measurements, which can in turn negatively affect the robot’s functionality. This research aimed to design a Parallel Kinematic Mechanism (PKM) for use as a stabilisation mechanism. The research focused on designing, simulating, building, testing, and analysing the mechanism. The PKM was modelled and simulated using MATLAB®, designed and developed using NX CAD software, and it was tested using a custom-built test rig that could simulate rotational disturbances. Using the metric of absement, the PKM significantly reduced the disturbances, depending on the disturbance induced.
© The Authors, published by EDP Sciences, 2023
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