Research On The Hybrid Stable Track Platform For Assist UAV On USV

With the increasing demand for offshore USV-UAV cooperation,the autonomous safe landing of UAV on USV has become a key issue.The USV bears multi-dimensional swaying motion under the influence of wind,waves and currents when sailing,which poses a great challenge to the take-off and landing of UAV.The traditional parallel stabilization platform can isolate the rocking motion of the USV,but it lacks the application for assisting the landing of the UAV.The CDPM(Cable-Driven Parallel Mechanism),which moves fast and easy to control can be combined with a PM(parallel mechanism)provide a new way to solve the problem.In this paper proposes,a new scheme of a hybrid stable tracking robot consisting a PM and a planar CDPM is proposed to assist UAV take-off and landing.Firstly,The simulation of the swaying motion of the carry-platform——JARI-USV,is carried by AQWA.This simulation can provide a basis for subsequent design.Then,the Do F(Degree of freedom)of the hybrid stable tracking robot can be determined a hybrid mechanism with 2R1 T PM and 1R2 T planar CDPM was constructed and optimized on the basis of the principle of DOF distribution and the existing mechanism.And the prototype is been designed.Then,the kinematics and dynamics of a hybrid mechanism with 2R1 T parallel mechanism and 1R2 T planar CDPM is analyzed on basis of the screw algebra and Newton Euler method.The relationship between all driven-joints and the Given motion of the end in hybrid stabilized platform is given.Next,the Numerical example simulation experiment of the rigid-flexible hybrid stable tracking robot to assist the take-off and landing of the UAV was carried out,which verifies the correctness of the kinematics and dynamics models established.Finally,a hybrid stable tracking system is designed and the hardware and software platform are built.The control and experiment research are carried based on the embedded development platform.