Design and Parameter Optimization of a 3-PSR Parallel Mechanism for Replicating Wave and Boat Motion
Kurt Talke, Dylan Drotman, Nicholas Stroumtsos, Mauricio de Oliveira, Thomas Bewley
Abstract
We present a low-cost, three-degree-of-freedom (3-DOF) prismatic-spherical-revolute (PSR) parallel mechanism used as a testing platform for an unmanned aerial vehicle (UAV) tethered to an unmanned surface vehicle (USV). The mechanism has three actuated linear rails kinematically linked to a platform which replicates boat motion up to 2.5 m vertical heave (sea state 4, Douglas Sea Scale). A lookup table relating relative slider heights to platform roll and pitch was developed numerically leveraging geometric constraints. A design parameter study optimized the arm length, platform size, and ball joint mounting angle relative to the overall radius to maximize the workspace. For this design, a maximum roll and pitch range from -32° to 32° and -25° to 35°, respectively, is achievable. A prototype was manufactured to carry the tethered UAV winch payload. Experimental testing confirmed the workspace and demonstrated boat motion replication, validated using an inertial measurement unit (IMU).
BibTeX
@inproceedings{icra2019_designandparamet,
title = {Design and Parameter Optimization of a 3-PSR Parallel Mechanism for Replicating Wave and Boat Motion},
author = {Kurt Talke and Dylan Drotman and Nicholas Stroumtsos and Mauricio de Oliveira and Thomas Bewley},
booktitle = {ICRA 2019},
year = {2019}
}