Servo Motor Controller Device for Stewart Platform Based on Simple Pulse Generator

Abstract

The Stewart Platform is a robotic technology used to move the platform using six motors. The Stewart Platform is often used for simulating ship movements, aircraft simulations, and simulation of combat vehicle movements. In this research, the motor moves based on pulses which are sent by the controller. Motor speed depends on the period value (T), where the period value is the sum of positive pulse width (TP) and negative pulse width (TN). The Servo Motor Controller Device consists of two Teensy 3.6 type microcontrollers, where each microcontroller drives three motors, and both are connected using serial communication. The results show that the maximum frequency that the device can produce for Motor 1 has a value of 67.797 kHz, 68.966 kHz for Motor 2, 67.797 kHz for Motor 3, 68.966 kHz for Motor 4, 68.966 kHz for Motor 5, and it has a value of 68.966 kHz for Motor 6. The duty cycle of the six signals looks quite good because it approaches the optimal value of 50%. The results show that this device deserves to be used as the Servo Motor Controller Device for Stewart Platform.