Ramruthan, KshirKuchwa-Dube, C2024-03-192024-03-192023-11Ramruthan, K. & Kuchwa-Dube, C. 2023. 4-RRS PKM for stabilisation on a mobile sensor platform. http://hdl.handle.net/10204/13645 .http://hdl.handle.net/10204/13645Disturbances 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.FulltextenParallel Kinematic MechanismPKM4-RRSStabilisationConference PresentationRamruthan, K., & Kuchwa-Dube, C. (2023). 4-RRS PKM for stabilisation on a mobile sensor platform. http://hdl.handle.net/10204/13645Ramruthan, 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/10204/13645Ramruthan K, Kuchwa-Dube C, 4-RRS PKM for stabilisation on a mobile sensor platform; 2023. http://hdl.handle.net/10204/13645 .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 -27576