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Abstract This paper presents a parallel manipulator with two universal-prismatic-universal (UPU)-type active limbs and one revolute-spherical (RS)-type passive limb which is used as a stabilizing platform based on the shipboard helicopter’s landing process and its kinematics are studied systematically. First, a 3D model of this stabilized platform is constructed, and its degrees of freedom are analyzed. Second, analytic formulas for solving the inverse kinematics and calculating the required lengths of each limb are derived and modeled using Simulink ® . Third, a Simscape™ model is constructed for the proposed design, and finally, the comparison of the results between the two models is done.
Koraaa et al. (Mon,) studied this question.