Kinematics analysis of a novel 4-dof stabilized platform

This paper presents a novel stabilized platform with three UPS-type and one RPU-type active limbs based on the shipboard helicopter's landing process and its kinematics are studied systematically. First, a prototype of this stabilized platform is constructed and its dof is analyzed, Second, analytic formulas for solving the inverse displacement kinematics are derived Third, analytic formulas for solving the forward displacement kinematics are derived and verified. Theoretical formulas and results provide a basis for the further optimization, control, and manufacturing.