NDLI: An Active helideck testbed for floating structures based on a Stewart-Gough platform

Content Provider	IEEE Xplore Digital Library
Author	Campos, A. Quintero, J. Saltaren, R. Ferre, M. Aracil, R.
Copyright Year	2008
Description	Author affiliation: Dept. of Autom., Univ. Politec. de Madrid, Madrid (Campos, A.; Quintero, J.; Saltaren, R.; Ferre, M.; Aracil, R.)
Abstract	A parallel robot testbed based on Stewart-Gough platform called active-Helideck is designed, developed and tested as a helicopter floating Helideck. The objective of this testbed is to show the advantages of helicopters that use an active Helideck upon landing on and taking off from ships or from offshore structures. Active-helideck compensates simulated movements of a ship at sea. The main goal of this study is to maintain the robotpsilas end effector (Helideck) in a quasi-static position in accordance to an absolute inertial frame. Compensation is carried out through the coordinate action of its six prismatic actuators in function of an inertial measurement unit. Moreover, the simulation of the sea movement is done by a parallel robot called ship platform with three degrees of freedom. The ship platform is built with a vertical oscillation along the z axis, i.e. heave, and rotates on remaining axes, i.e. roll and pitch. Active Helideck is able to compensate simulated movements by considering the ship as an inertial frame as observed in the experiment.
Starting Page	3705
Ending Page	3710
File Size	1247666
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650750
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine vehicles End effectors Joints Sensors Helicopters Sea measurements Temperature measurement
Content Type	Text
Resource Type	Article

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