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

Campos Bonilla, Aníbal Alexandre; Quintero Ruiz, Jacqueline; Saltaren Pazmiño, Roque Jacinto; Ferre Pérez, Manuel y Aracil Santonja, Rafael (2008). An Active helideck testbed for floating structures based on a Stewart-Gough platform. En: "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.", 22/09/2008-26/09/2008, Niza, Francia. ISBN 978-1-4244-2057-5.

Descripción

Título: An Active helideck testbed for floating structures based on a Stewart-Gough platform
Autor/es:
  • Campos Bonilla, Aníbal Alexandre
  • Quintero Ruiz, Jacqueline
  • Saltaren Pazmiño, Roque Jacinto
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Fechas del Evento: 22/09/2008-26/09/2008
Lugar del Evento: Niza, Francia
Título del Libro: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Fecha: 2008
ISBN: 978-1-4244-2057-5
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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 robot’s 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.

Más información

ID de Registro: 4039
Identificador DC: http://oa.upm.es/4039/
Identificador OAI: oai:oa.upm.es:4039
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4650750
Depositado por: Memoria Investigacion
Depositado el: 06 Sep 2010 09:29
Ultima Modificación: 22 Feb 2017 18:09
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