Let's Make Robots!

Linear Stewart Platform

6DOF movement. The basis for CNC machining or flight/driving simulators

All my projects & progress are available at marginallyclever.com.

I wrote the software first for a rotary hexapod that used hobby servos.  I then rewrote the relevant sections for simpler linear action.

The u-joints are TRAXXAS half-shafts cut down with a Dremel. There are 12 flanged bearings that allow the actuators to turn smoothly for yaw.

  • pitch/roll: 50 degrees (could go higher but u-joints won't allow)
  • yaw: 45 degrees
  • heave: 100mm
  • Weight does not include PCBs.

This is part of a larger robot I am building. I challenge any of you to build an automatic tool changer for this machine.

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

Although I listed this project as finished, I have since realized that I need to better control the actuator speed to prevent self-destructive behaviour.  I'm struggling to solve the forward kinematics.  If you can explain it to me, please send me a message.