Stewart Robotic Platform for Topographic Measuring System

In this work, a prototype of an autonomous topographic metrology system that uses a self-leveling Stewart platform system is presented, with the objective of evaluating the angular uncertainty of the azimuth plane adjustment process, which would disperse an associated collimation instrument. The self-leveling process of the prototype is achieved by means of two mutually independent four-bar kinematic chains that regulate the inclination of the platform on the “x” and “y” axes. The control of the prototype is based on the regulation of the motive source, of the kinematic chains, by means of a servomotor coupled to one of the fixed articulations and an accelerometer. The comparison of the angular error of adjustment of the calculated azimuth plane and that measured independently in an array of orthogonal toroid levels shows that the error changes as a function of the initial disturbed position and converges to a fixed value that depends on the accuracy of the source controller motor, the resolution in the range of the sensor and the alignment of the links and articulations of the kinematic chain.