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Rotary Stewart Platform v1

by i-make-robots, published

Rotary Stewart Platform v1 by i-make-robots Mar 23, 2013

Description

All my designs & progress available @ [Marginally Clever](http://marginallyclever.com)

[Youtube video](http://www.youtube.com/watch?v=rhuM6Cnn5Pk)

Stewart Platforms are used in flight simulators, CNC machine equipment, robotic surgeons, and connect the ISS to the space shuttles.

I call this model "rotary" because it uses a rotary action to move each "arm". a linear platform would use linear actuators.

I designed this so that university students can stop reinventing the wheel when they need a platform - get one of these, contribute to the open souce design, and help make life easier for everybody.

If you use one of my designs, please let me know! I'd love to see what you make with it and share with others who are interested.

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Instructions

- get the code from github.com/MarginallyClever/RotaryStewartPlatform/
- get the parts kit from bit.ly/ZO0Dec or laser cut this design. You'll need two frames, one end effector1, and three end effector 2.
- get three TAMIYA 70171 kits. Cut the M3 rods in half.
- assemble as you see in the pictures. You'll have one extra end effector plate when you're done. Use the extra M3 rods to sandwich the two frame plates together, securing the servos in place.
- upload firmware
- run with GCODE from serial interface window.

It would be awesome if someone would help improve the inverse kinematics for this robot, and even more so if someone could write a java interface. Also, there are no forward kinematics, a challenge that is beyond my math skills. Lots of room for derivatives. ;)

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