WOLFRAM SYSTEM MODELER
Model of six-degree-of-freedom Stewart platform whose position is controlled by position setpoints.
|ˇ Introduction||ˇ Simulation & Animation|
|ˇ Design: 3D Geometry||ˇ Visualization: Custom 3D Animation|
|ˇ Visualization: Leg Length Offset|
This model simulates a six-degree-of-freedom Stewart platform. The position and orientation of the platform is determined by the lengths of six legs. Each leg comprises a linear actuator and five rotational degrees of freedom. The model is constructed from components in the Modelica.Mechanics library. The Wolfram Language is used to plan the 3D geometry of the model, and to produce custom visualizations of simulation results.
View the model diagram for this model.
In order to get the full experience of this example, you need the following:
These pages show an overview of the example. For the full example, open the accompanying notebook StewartPlatform.nb.
To simulate the model and view a 3D animation of it, follow the steps below:
The automatically generated animation shows the Stewart platform following a prescribed test trajectory:
See below for more advanced custom visualizations.
Use the Wolfram Language to plan the 3D geometry of the Stewart platform and solve the inverse kinematics problem to plan the motion of the platform:
Build up a custom 3D visualization of the Stewart platform using the Wolfram Language and export an AVI movie:
Use the Wolfram Language to create a custom visualization of the effect of a small offset in a single leg:
This domain example is an informational resource made freely available by Wolfram Research.
A summary of the licensing terms can be found at:
The full legal code can be found at: