DOI: https://doi.org/10.15368/theses.2020.20
Available at: https://digitalcommons.calpoly.edu/theses/2124
Date of Award
3-2020
Degree Name
MS in Mechanical Engineering
Department/Program
Mechanical Engineering
College
College of Engineering
Advisor
Saeed B. Niku
Advisor Department
Mechanical Engineering
Advisor College
College of Engineering
Abstract
A Stewart Platform robot was designed, constructed, and programmed for use in Cal Poly’s ME 423 Robotics: Fundamentals and Applications laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry and inverse kinematics were modeled and animated using MATLAB. The platform was then built using linear actuators, magnetic spherical bearings, and acrylic plates. Control of the Stewart Platform is achieved using an Arduino Due and a custom HexaMoto shield. Users interact with the system using a GUI created with MATLAB’s App Designer.