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4-RRS PKM for stabilisation on a mobile sensor platform

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dc.contributor.author Ramruthan, Kshir
dc.contributor.author Kuchwa-Dube, C
dc.date.accessioned 2024-03-19T07:49:16Z
dc.date.available 2024-03-19T07:49:16Z
dc.date.issued 2023-11
dc.identifier.citation Ramruthan, K. & Kuchwa-Dube, C. 2023. 4-RRS PKM for stabilisation on a mobile sensor platform. http://hdl.handle.net/10204/13645 . en_ZA
dc.identifier.uri http://hdl.handle.net/10204/13645
dc.description.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. en_US
dc.format Fulltext en_US
dc.language.iso en en_US
dc.relation.uri https://www.matec-conferences.org/articles/matecconf/pdf/2023/15/matecconf_rapdasa2023_04020.pdf en_US
dc.source RAPDASA-RobMech-PRASA-AMI Conference, CSIR International Convention Centre, Pretoria, South Africa, 30 October – 2 November 2023 en_US
dc.subject Parallel Kinematic Mechanism en_US
dc.subject PKM en_US
dc.subject 4-RRS en_US
dc.subject Stabilisation en_US
dc.title 4-RRS PKM for stabilisation on a mobile sensor platform en_US
dc.type Conference Presentation en_US
dc.description.pages 17 en_US
dc.description.note © The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (https://creativecommons.org/licenses/by/4.0/). en_US
dc.description.cluster Manufacturing en_US
dc.description.impactarea Future Production Systems en_US
dc.identifier.apacitation Ramruthan, K., & Kuchwa-Dube, C. (2023). 4-RRS PKM for stabilisation on a mobile sensor platform. http://hdl.handle.net/10204/13645 en_ZA
dc.identifier.chicagocitation Ramruthan, Kshir, and C Kuchwa-Dube. "4-RRS PKM for stabilisation on a mobile sensor platform." <i>RAPDASA-RobMech-PRASA-AMI Conference, CSIR International Convention Centre, Pretoria, South Africa, 30 October – 2 November 2023</i> (2023): http://hdl.handle.net/10204/13645 en_ZA
dc.identifier.vancouvercitation Ramruthan K, Kuchwa-Dube C, 4-RRS PKM for stabilisation on a mobile sensor platform; 2023. http://hdl.handle.net/10204/13645 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Ramruthan, Kshir AU - Kuchwa-Dube, C AB - 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. DA - 2023-11 DB - ResearchSpace DP - CSIR J1 - RAPDASA-RobMech-PRASA-AMI Conference, CSIR International Convention Centre, Pretoria, South Africa, 30 October – 2 November 2023 KW - Parallel Kinematic Mechanism KW - PKM KW - 4-RRS KW - Stabilisation LK - https://researchspace.csir.co.za PY - 2023 T1 - 4-RRS PKM for stabilisation on a mobile sensor platform TI - 4-RRS PKM for stabilisation on a mobile sensor platform UR - http://hdl.handle.net/10204/13645 ER - en_ZA
dc.identifier.worklist 27576 en_US


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