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

Campos Bonilla, Aníbal Alexandre and Quintero Ruiz, Jacqueline and Saltaren Pazmiño, Roque Jacinto and Ferre Pérez, Manuel and Aracil Santonja, Rafael (2008). An Active helideck testbed for floating structures based on a Stewart-Gough platform. In: "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.

Description

Title: An Active helideck testbed for floating structures based on a Stewart-Gough platform
Author/s:
  • Campos Bonilla, Aníbal Alexandre
  • Quintero Ruiz, Jacqueline
  • Saltaren Pazmiño, Roque Jacinto
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Event Dates: 22/09/2008-26/09/2008
Event Location: Niza, Francia
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Date: 2008
ISBN: 978-1-4244-2057-5
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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 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.

More information

Item ID: 4039
DC Identifier: http://oa.upm.es/4039/
OAI Identifier: oai:oa.upm.es:4039
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4650750
Deposited by: Memoria Investigacion
Deposited on: 06 Sep 2010 09:29
Last Modified: 22 Feb 2017 18:09
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