Inverted Stewart/Gough Platform

A stewart/gough platform is the machine that moves a flight simulator around. Technicaly it is a 6 degree of freedom kinematic assembly. They are also used to hold the space shuttle against the ISS and in some advanced milling machines. This model is inverted - it is upside down and hung on string or wire. Same principle, much more affordable and easy to construct.

This machine is made from three Makelangelos (http://www.thingiverse.com/thing:26298) and a few pieces of laser cut acrylic. In this Thing I've included the DXF files for the acrylic.

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Instructions

• Cut three motor mounts, four edges, and one top. The measurements are in centimeters. The edge and top are both 24" on each side.
• Screw the arduinos and steppers onto the mounts.
• Attach the steppers to the motor shields.
• Attach the motor shield to the arduino.
• Secure the bobbins on the stepper shafts with set screws.
• Wind 36" of string onto each bobbin and thread the string through the holes.
• Slot the motor mounts into the grooves of the top plate so that the bobbins face out from the center.
• attach the six strings to the end effector. See the 3-3 design here (http://robotics.technion.ac.il/projects/Images/ronen_robots.jpg) for reference.
• connect 12v1a to each motor shield
• connect USB to each arduino and your PC/laptop.
• install arduino firmware. (not yet released.)
• run Java code. (not yet released.)
• rejoice!

Category: Mechanical Toys