STEWART PLATFORM @ SASTRA UNIVERSITY

A parallel manipulator is one in which the end effector is attached to a movable platform that is supported in-parallel by a number of actuated links or prismatic joints. In this work a working model of the Stewart Platform, a typical six degrees of freedom parallel manipulator, has been developed. DC motor with screw rod and nut arrangement is employed for the linear actuation of each of the six limbs. Spherical joints (3 DOF) are mounted at one end of the limb, while at the other end a universal joint (2 DOF) is used. The control system employs PIC 16F877A microcontroller, programmed to raise and lower the end effector. This project was originally done by 2006 batch of BTech Mechatronics students. Later many batches made improvements and was finally worn out. Our team consisting of Deepak , Rohit (BTech Mechatronics Students) and Myself are trying to give a new life to the system.