StewartPlatform

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StewartPlatform

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A Stewart platform with 6 rotary actuators (stepper motors) designed in SolidWorks and imported into Matlab Simscape Multibody. The embedded part was done with an Arduino Uno.

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# StewartPlatform
             A Stewart platform with 6 rotary actuators (stepper motors) made using the model-based design method. 
The platform was designed in Solidworks and imported in Matlab Simscape Multibody. After that, I designed the control algorithm and tested the platform to find its limits in Simscape and the embedded version of the project was done with an Arduino Uno, 6 YKB stepper motor drivers and 3 inductive proximity sensors. The code I wrote is not the cleanest or the prettiest but is the one that worked in such a short period of time.

The Simscape Multibody simulation of the 6 basic movements: translation on X axis, translation on Y axis, translation on Z axis, rotation on Z axis, rotation on Y axis, rotation on X axis.

https://user-images.githubusercontent.com/58292659/124992810-218da780-e04c-11eb-8b71-244a767dd2b5.mp4

The embedded version of the project. The platform does the 6 basic movements: translation on X axis, translation on Y axis, translation on Z axis, rotation on Z axis, rotation on Y axis, rotation on X axis.

![1](https://user-images.githubusercontent.com/58292659/124996214-3caee600-e051-11eb-8673-3b4af404c362.gif)

![2](https://user-images.githubusercontent.com/58292659/124996224-41739a00-e051-11eb-92c3-83e2a3f8abe2.gif)

![3](https://user-images.githubusercontent.com/58292659/124996230-45072100-e051-11eb-8347-1dadf9582b3c.gif)

![4](https://user-images.githubusercontent.com/58292659/124996244-49cbd500-e051-11eb-9e52-5ef5e03ca848.gif)

![5](https://user-images.githubusercontent.com/58292659/124996250-4cc6c580-e051-11eb-9b4a-9724dab88e72.gif)

StewartPlatform

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