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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.
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REFERENCE CUSTOMERS
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)
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 Sensivity
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
320 mm
250-1000+ mm
Base Diameter
450 mm
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options
FEATURES
Assembled and ready to control plant with the integrated power unit
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Implementation of advanced digital control techniques
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Parallel manipulator with six independent actuators
Current feedback for torque calculations
Platform’s position sensing by 6-DOF Gyro sensor
Precision-crafted chassis construction
Open source software architecture enables users to create their own real-time algorithms
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
SPECIFICATIONS
*We offer customization in our product upon customer’s request.
RELATED ARTICLES
Exploring ACROME’s Stewart Platform: Capabilities, Deliverables and Usage
15
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A Getting Started article for ACROME's Stewart Platform. Includes brief information about the product's development history, its physical aspects and capabilities, deliverables, getting started items and use-case details.
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Exploring ACROME’s Stewart Platform: Capabilities, Deliverables and Usage
15
Min
A Getting Started article for ACROME's Stewart Platform. Includes brief information about the product's development history, its physical aspects and capabilities, deliverables, getting started items and use-case details.
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