Stewart Platform

6 DOF modular lab platform for robotics, mechatronics, and controls

ACROME Stewart Platform has developed and designed to understand intermediate to advanced robotics concepts for educational and research purposes.

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OVERVIEW

Stewart Platform can offer realistic simulations at six-axis owing to the high sensitivity of linear actuators, gyroscope, and a three-axis accelerometer. With the accesibile and user friendly components, it is suitable for simulate real systems such as flight simulators, machine tool technology, crane technology, air-to-sea rescue, mechanical bulls, satellite dish positioning, telescopes, and orthopedic surgery.

Every unit of the Stewart platform is controllable independently with the modifiable open-source software and students can understand the effects of different controller types on the system. With the extensive courseware, students have the opportunity to learn essensial aspects of robotics and easily cover controller design concepts.

FEATURES

  • Assembled and ready to control plant with the integrated power unit
  • Implementation of advanced digital control techniques.
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
  • Easy-connect cables and connectors
  • Parallel manipulator with six independent actuators
  • Precision-crafted chassis constructed of durable plexiglass
  • Enables students to create their own real-time algorithms.
  • Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

CURRICULUM

  • Introduction
    • Definition of a Robot
    • Parallel Manipulators and Stewart Platform
    • Uses of Stewart Platforms
  • Components of Stewart Platform
    • Actuonix P16-P Linear Actuator with Feedback
    • NI MyRIO
    • MPU-6050Six-Axis (Gyro+Accelerometer)
    • L293D Motor Driver
    • ACROME Power Distribution Box
  • Parallel Kinematics
    • Joint Description
    • Inverse Kinematics
    • Mobility of Stewart Platform
  • Trajectory Generation
    • Introduction
    • General Considerations in Path description and Generation
    • Cartesian Space Schemes
    • Joint Space Schemes
      • Cubic Polynomials
      • Cubic Polynomials for a Path with via Points
      • Higher Order Polynomials
      • Linear Function with Parabolic Blends
      • Linear Function with Parabolic Blends for a Path with via Points
  • Programming
SPECIFICATION

Active Axes  

Base Radius 

Platform Radius      

Platform Height      

Travel Range X,Y

Travel Range Z        

Travel Range θX, θY

Travel Range θZ     

Max Speed (No Load) 

Max Force Lifted    

X,Y,Z,θX, θY, θZ

120 mm

80 mm

165 mm (motors at home position)

+/- 50 mm

100 mm

+/- 30°

+/- 30°

46mm/s

280 N

 

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