Design of a six-DOF Stewart platform for controls research
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Date
2016
Journal Title
Journal ISSN
Volume Title
Publisher
University of New Brunswick
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.