<p>This work focuses on design, modeling, analysis and physical prototyping of a novel stabilization platform having two prismatic revolute universal (2PRU) joints and one prismatic revolute spherical (1PRS) joint. Such 2PRU-1PRS configuration can stabilize the platform against two types of rotational disturbances (roll and pitch) and one type of translational disturbance, i.e., in the heave direction. Such disturbances are often experienced while transporting sensitive equipment through bumpy roads and also in satellites and aircraft. Our work involved modeling inverse kinematics of the system, designing three different competing controllers to stabilize the platform, and physical realization of an efficient, computationally fast, and yet inexpensive stabilized platform. The system designed is inexpensive as it uses a development board such as <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="40435_2025_1769_Article_IEq1.gif" Format="GIF" Height="21" Rendition="HTML" Resolution="72" Type="Linedraw" Width="70" /> </InlineMediaObject> <EquationSource Format="TEX">$\hbox {Teensy}^{\text {TM}}$</EquationSource> <EquationSource Format="MATHML"><math> <msup> <mtext>Teensy</mtext> <mtext>TM</mtext> </msup> </math></EquationSource> </InlineEquation> 4.1. The inverse kinematic model and control laws developed in our work have been validated against simulations carried out in <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="40435_2025_1769_Article_IEq2.gif" Format="GIF" Height="19" Rendition="HTML" Resolution="72" Type="Linedraw" Width="193" /> </InlineMediaObject> <EquationSource Format="TEX">$\hbox {ADAMS}^{\text {TM}}-\hbox {MATLAB}^{\text {TM}}$</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <msup> <mtext>ADAMS</mtext> <mtext>TM</mtext> </msup> <mo>-</mo> <msup> <mtext>MATLAB</mtext> <mtext>TM</mtext> </msup> </mrow> </math></EquationSource> </InlineEquation> environment. Simulation results were also validated against experimental data gotten by developing a physical prototype of the 3DOF stabilized platform and an exciter to induce disturbances in the system. Our experimental results confirm the effectiveness and robustness of the proposed system. The technology developed in this work is important as it has several practical applications in transportation, space, naval, and aerial contexts. The work is also important as it employs 2PRU-1PRS manipulators which offer wider workspace vis-à-vis other 3-DOF parallel manipulators.</p>

Design, development, and control of a 2PRU-1PRS stabilized platform

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发表日期：

2025年6月27日

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Anubhav Mishra,
Partho Ghosh,
Nachiketa Tiwari

摘要

This work focuses on design, modeling, analysis and physical prototyping of a novel stabilization platform having two prismatic revolute universal (2PRU) joints and one prismatic revolute spherical (1PRS) joint. Such 2PRU-1PRS configuration can stabilize the platform against two types of rotational disturbances (roll and pitch) and one type of translational disturbance, i.e., in the heave direction. Such disturbances are often experienced while transporting sensitive equipment through bumpy roads and also in satellites and aircraft. Our work involved modeling inverse kinematics of the system, designing three different competing controllers to stabilize the platform, and physical realization of an efficient, computationally fast, and yet inexpensive stabilized platform. The system designed is inexpensive as it uses a development board such as $\hbox {Teensy}^{\text {TM}}$ ${Teensy}^{TM}$ 4.1. The inverse kinematic model and control laws developed in our work have been validated against simulations carried out in $\hbox {ADAMS}^{\text {TM}}-\hbox {MATLAB}^{\text {TM}}$ ${ADAMS}^{TM} - {MATLAB}^{TM}$ environment. Simulation results were also validated against experimental data gotten by developing a physical prototype of the 3DOF stabilized platform and an exciter to induce disturbances in the system. Our experimental results confirm the effectiveness and robustness of the proposed system. The technology developed in this work is important as it has several practical applications in transportation, space, naval, and aerial contexts. The work is also important as it employs 2PRU-1PRS manipulators which offer wider workspace vis-à-vis other 3-DOF parallel manipulators.