4-RRS PKM for stabilisation on a mobile sensor platform

Abstract

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.