MUNITIONS LOADING VIA A ROBOTIC STEWART PLATFORM UNDER CLOSED LOOP CONTROL

THIS STUDY INVESTIGATES THE ENHANCEMENT OF AIRCRAFT MUNITIONS LOADING PROCEDURES. PRESENTLY, MUNITIONS ARE TRANSPORTED FROM THE FLIGHT LINE TO THE AIRCRAFT ON A BOMB LIFT TRUCK EQUIPPED WITH A ONE DEGREE OF FREEDOM (DOF) LIFTING ARM. THE ARM CAN RAISE THE MUNITIONS TO THE CORRECT HEIGHT, BUT THE REMAINING FIVE POSITION DOF ARE ACHIEVED MANUALLY THROUGH THE FLEXURE OF THE ARM OR BY REPOSITIONING THE TRUCK BENEATH THE AIRCRAFT. THIS SLOW MANPOWER INTENSIVE PROCESS WILL BE GREATLY ENHANCED BY RETROFITTING THE TRUCK WITH THE HIGH PAYLOAD SIX DOF STEWART PLATFORM UNDER CLOSED LOOP CONTROL. THIS STUDY WILL INCREASE SUBSTANTIVE KNOWLEDGE OF CLOSED LOOP MANIPULATOR CONTROL AND THE DYNAMIC CAPABILITIES OF THE STEWART PLATFORM. IT IS ANTICIPATED THAT THE STEWART PLATFORM WILL HAVE COMMERCIAL APPLICATION AS A JET ENGINE MOUNTING DEVICE.