The Tilted Axes Stable Platform Mechanism: Kinematic and Kinetic Aspects

A stable platform is described which does not conform to the conventional orthogonal pattern of present methods of maintaining vertical a ship-borne radar aerial axis of rotation. The non-orthogonal nature of the axes of the mechanism gives rise to non-linear relationships between the motion of the vessel and the corresponding required rotations about the mechanism axes. Equations relating these rotations with the attitude of the vessel are developed and verified by measurements obtained from a model. Torque requirement equations are derived by a method of vectorial coordinate transformations, from which drive system power requirements may be deduced.