Design and build of a Stewart platform

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The goal of my thesis project is to examine the realization and build a laboratory sized 6 DoF Stewart-platform and demonstrate its capabilities through a ball-balancing task. At the beginning of my theses I review the theoretical basics of the Stewart-platform, its history and significance among the parallel robots. I continue the process with studying the inverse kinematics solution of the mechanical system which is required for the position control.

After this, a simulation is created to verify the kinematic calculations and to show its expected operation for different input parameters and trajectories. In parallel to this, the designing options can be examined easily with the MATLAB representation. Next, I create the CAD model for my platform, when I consider all manufacturing and acquisition options prior the physical realization for each element of the structure. It is followed by the Stewart platform’s assembling part. After the building process I create the control system for the position control and examine the nature of the ball balancing application and develop the image processing part of the control system. It is followed by the creation of the final application, a control system which can manipulate the position of a ball with the help of a camera. At the end of my work, I draw conclusions about the operation and feasibility and improvement options are proposed.


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