Stewart Platforms

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Stewart Platforms
Dr Bobbie Fletcher
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For spatial movement
6 Degrees of Freedom (DOF's) are required. 3
translations and 3 rotations
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Six Degrees of Freedom (DOFs)
Yaw
Heave
Pitch
Sway
Surge
Roll
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HYDRAULIC STEWART PLATFORM
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Pneumatic Stewart Platform
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(No Transcript)
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Platform in F2
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Geometry and Kinematics
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The Platform Frame or axes is free to move
Relative to
The Base Frame or axes which is fixed
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Forward Kinematics
takes the lengths of the struts/actuators and
calculates th pose of the platform
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Inverse Kinematics
takes the pose of the platform and calculates
the lengths of the struts/actuators
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Fooling the Sense of Touch to induce a feeling of
Movement that doesnt exist
Acceleration due to gravity
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When the Platform is Pitched Backwards
The mans back pushes into the seat
Acceleration due to gravity
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Platform programming

• Acceleration profile
• Washout
• Interface