Stewart Platforms

The goal here is to provide a Matlab/Simscape Toolbox to study Stewart platforms.

1 Simulink Project (link)

2 Stewart Platform Architecture Definition (link)

3 Simscape Model of the Stewart Platform (link)

4 Kinematic Analysis (link)

  • Jacobian Analysis
  • Stiffness Analysis
  • Static Forces

5 Identification of the Stewart Dynamics (link)

  • Extraction of State Space models
  • Resonant Frequencies and Modal Damping
  • Mode Shapes

6 Active Damping (link)

  • Inertial Sensor
  • Force Sensor
  • Relative Motion Sensor

7 Control of the Stewart Platform (link)

8 Cubic Configuration (link)

9 Architecture Optimization

ref.bib