Kinematic Analysis of Stewart Platform using MATLAB

Abstract

Stewart platform is one of the most documented and researched-on parallel robot today. It has uses ranging from military tanks, flight simulators and so on. This Stewart Platform has 6 degrees of freedom, consisting of an upper platform and a lower base connected by six extensible linearly actuated legs. This paper involves analysis of inverse kinematic equations which lead to precise calculation of the length of each leg required for a given orientation and position of the platform. Then a MATLAB script is coded with the equations and we get the result with user input values. Finally, some future scopes of this paper are discussed.