Title: The new design of stabilised platform for target seekers using two-dof spherical linkage

Authors: W.Z. Guo, F. Gao, Y.C. Deng, Q.H. Liang

Addresses: State Key Laboratory of Mechanical System and Vibration, Institute of Design and Control Engineering for Heavy Equipments, Shanghai Jiao Tong University, Shanghai, 200240, China. ' State Key Laboratory of Mechanical System and Vibration, Institute of Design and Control Engineering for Heavy Equipments, Shanghai Jiao Tong University, Shanghai, 200240, China. ' State Key Laboratory of Mechanical System and Vibration, Institute of Design and Control Engineering for Heavy Equipments, Shanghai Jiao Tong University, Shanghai, 200240, China. ' State Key Laboratory of Mechanical System and Vibration, Institute of Design and Control Engineering for Heavy Equipments, Shanghai Jiao Tong University, Shanghai, 200240, China

Abstract: A target seeker is an important portion of the guidance system for the flying vehicles to track fixed/flying objects. In the target seeker, the stabilised platform is fundamental as it provides pointing capability to maintain the apparatus mounted on it a desired time-invariant or time-variant pose. In this paper, a new design of the stabilised platform is investigated using a two-degree-of-freedom (dof) spherical linkage driven by two fixed motors. The configuration, forward and inverse kinematics, singularity as well as linearity are discussed. Then, the driving torques are modelled and investigated that leads to balance design. Furthermore, the balance design is detailed considering the motion of the flying base. Simulations illustrate the new design and a prototype is developed in the laboratory.

Keywords: target seekers; stabilised platforms; spherical linkage; linearity; driving torque; balance design; flying base; object tracking; flying objects; fixed objects; kinematics; kinematic modelling; guidance systems; flying vehicles.

DOI: 10.1504/IJDE.2010.040521

International Journal of Design Engineering, 2010 Vol.3 No.4, pp.337 - 354

Published online: 01 Jun 2011 *

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