Joystick Controlled Passive Compliance Stewart-Gough Platform

Abstract

This research presents the design and development of a Stewart-Gough platform with a soft material and the analysis of its motion using a Joystick. It used six servo motors to actuate the legs there by performing translational, rotational, and combinational motions. The development of these 6 degrees of freedom parallel mechanism was completed by inverse kinematics followed by numerical simulations to compute the coordinate of leg position on top platform and base plate. The developed model was fabricated using 3D printer and the motions were controlled by Joystick. The motion of the platform for actuation of each leg actuator was monitored and found matching with the results from numerical simulations.