THE MAGIC OF MOTION SIMULATION: THE DESIGN AND FABRICATION OF A MODEL STEWART PLATFORM CAPABLE OF REPLICATING REAL-WORLD ACCELERATIONS

Abstract

The following paper will detail the design and fabrication of an inexpensive, desktop Stewart platform with the intention that it be used to demonstrate that real-world accel-erations can be accurately replicated. The study will introduce two static scenarios as well as a dynamic scenario, all of which can be effectively simulated by implementing appropriate motion cues. The paper will provide a closed-form solution for the inverse kinematics of a Stewart platform, such that one can predict the way in which each actuator must move for the platform to reach any position and orientation within its workspace. A method for controlling actuator movement and receiving positional feedback will also be instituted. The platform will then be programmed to mimic the two static scenarios in order to prove that rapid accelerations can best be simulated by translational platform whereas prolonged accelerations can best be simulated by rotational platform motion. Lastly, the study will prove that a dynamic scenario with a non-constant acceleration can also be mimicked by platform motion. In addition, the results will indicate that energetically favorable maneuvers can be just as effective in replicating accelerations as their more energy intensive and seemingly more accurate counterparts.