Stewart Platform

6-DoF sophisticated motion system for robotics and controls

ACROME Stewart Platform is a parallel robotic system, could be used for advanced robotics concepts in academia and various applications in industry. It has a default configuration for payload, size and user software.

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 accessible and user-friendly components, it is suitable to simulate real systems such as flight simulators, machine tool technology, crane technology, mechanical bulls, precision platform positioning such as telescopes, antennas, and orthopedic surgery. Every unit of the Stewart platform is controllable independently with the modifiable open-source software and users can understand the effects of different controller types on the system. With the extensive courseware, users have the opportunity to learn essential aspects of robotics and easily cover controller design concepts.

SOFTWARE OPTIONS



LabVIEW, Real-Time (optional), FPGA (optional)



Altair Activate



Executable & GUI



Python



LabVIEW, Real-Time, FPGA (optional)



Python and OpenCV



API for External Control (Examples for LV, Matlab, Python)



MatLab/Simulink



C with STM32 software



API for External Control (Examples for LV, Matlab, Python)

* Different controllers may require

CONTROLLER OPTIONS



USB (PC based)



Raspberry Pi + Shield



NI myRIO



Arduino Mega + Shield

SPECIFICATIONS

Payload

12 kgs (26,5 lbs)

Up to 150 kgs (331 lbs)

Workspace Options

X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°

Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°

Position Repeatability

+/- 100 µm

Down to +/- 25 µm

Angular Sensitivity

0.2°

Down to 0.1°

Max. Linear Speed

40 mm/sec.

Up to 80 mm/sec.

Height (min-max)

406-506 mm

330-920 mm

Platform Diameter

350 mm (hexagonal)

250-1000+ mm

Base Diameter

450 mm (hexagonal)

450-1000+ mm

Weight

14 kgs (31 lbs)

Based on custom options

FEATURES

Ready to use product with integrated power unit, controller and software

Ready-to- and easy-to-use Graphical User Interface software for quick start

Built-in API for custom software development and test automation

Compatible with MATLAB®/Simulink®, LabVIEW™, Python and C/C++

Six independent controllable actuators having built-in position feedback sensors

Built-in kinematics solver. Users need to enter the desired coordinates only

Real-time measurement of the Platform via the aux. Inertial Measurement Unit (IMU) sensor

Precision-crafted plates with standard or custom mounting holes

Open source software option to create your own algorithm or teach/learn parallel kinematics

Virtual pivot point setting, oscillation and playback modes available in software.

FAQs

What is Stewart Platform?



The Stewart Platform is a 6-Degrees of Freedom precision parallel robotic positioner system. It is capable of moving in X, Y, Z and Roll, Pitch, Yaw coordinates.

What is a Stewart Platform used for?



A Stewart Platform is used for positioning its upper or lower plate using its electromechanical actuators. Typical applications are alignment, leveling or placement of materials or executing a repeatable / random motion such as vibration or oscillation pattern to an object mounted on either of its plates.

How many degrees of freedom does a Stewart Platform have?



6-DOF. These are X,Y,Z, rotation around X, Y, Z ie. roll, pitch, yaw.

Does the product comes with a controller and software/courseware?



Product comes with the controller and software. Courseware is optional with choice of the programming language.

Can I use a custom motion pattern? How?



A custom motion pattern can be implemented via a scenario script or through importing a CSV file with timestamp and coordinates data. Necessary information is provided in the User's Manual.

Is there any after-sales support or training for the product?



A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

INTRODUCTION

Definition of a Robot
Parallel Manipulators and Stewart Platform
Uses of Stewart Platforms

COMPONENTS OF STEWART PLATFORM

Linear Actuator with Feedback
Controller
Six-Axis Gyro+Accelerometer
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