Development of a Parallel-Series Stabilized Platform System

Abstract

This document designed a stabilized platform of 2-DOF spherical parallel mechanism with 1-DOF in series. DC servo motors are adopted as the driver of the mechanism. The system uses an inertial gyro sensor as the feedback of the angular position. Software and hardware of the platform were developed. The full closed-loops control structure based on Advantech IPC with NI multifunction data acquisition card(PCI-6230), including current loop, velocity loop and angular position loop, gets wide speed range and high precision for angular tracking. Control software was the Matlab with embedded real-time QuaRC. Experiment results meet the technical index and precision requirement, and illustrate the practicability and effectiveness of the scheme.

Analysis of Vibration Characteristics of Electro-hydraulic 3-UPS/S Parallel Stabilized Platform

“…The stabilized platform detects the posture change of the equipment through the sensitive element, compensates the deviation of the equipment through attitude adjustment, and isolates the influence of the environment to keep the equipment relatively stable in the inertial space [1][2][3][4]. According to the mechanism type, the mechanism can be classified into series stabilized platform and parallel stabilized platform [5][6]. The series stabilized platform is simple in control and low in design cost.…”