Stewart Platform Motion Simulation in Matlab


    This is a simulation of 6-DOF platform, commonly known as stewart platform. The angle of the servo horn controls the length of link from base to the platform and by changing the length of each legs we can change rotation and translation of platfrom.

    In Matlab, I made a GUI where the platform was modeled with simple nodes. For motion data, the position of nodes was calculated at regular intervals of time by the inverse kinematics of the Stewart platform. The recording of the simulation is as shown.

    This was initially designed to make a shake table that could simulate all 6 motions - rotation and translation about all three axes, of an earthquake. However, the design was discarded due to the unavailability of materials in the Nepalese market and a single-axis shake table was made.