Design of a six-DOF Stewart platform for controls research

Abstract

The six degree of freedom Stewart platform in this report was designed for demonstrational purposes in a controls classroom environment. The final design constraints and specifications were laid out to meet the client specifications for manipulating a ball with constrained or unconstrained motion using touch screen feedback and rotary motor actuation. A project management plan was outlined in order to meet proper deadlines and complete device construction. Following detailed design calculations, the platform was modeled and simulated prior to prototype construction. Fabrication and assembly steps were documented for later reference and the complete mechanical prototype was tested along with all the electronic components to ensure proper functionality. Mathematical modeling was done to assist in the generation of various control algorithms for later implementation. Safety and operational instructions are discussed.