Kinematics of platform stabilization using a 3-PRS parallel manipulator

Abstract In this paper, a 3-PRS (prismatic, revolute, and spherical) parallel manipulator for platform stabilization is designed. The main purpose of device to stabilize visual equipment, which placed on top car inspect electrical transmission cables, as part routine maintenance. Due the bulky heavy infrared cameras used during inspections, stabilizer has been designed handle weight camera equipment up 10 kg. This consists two major mechanisms. first mechanism able adjust angle camera. Thus, user can focus along electric lines. second stabilization. serves orientation position in roll, pitch, heave directions. To test performance mechanism, fed with known value regard input. As such, trying compensate change angle. results show that errors between input angles compensated are range 0.4–3%. Errors seen be within an acceptable range. It significant resultant do not affect