Use of SimMechanics for the workspace analysis and mechanical design of a 6 RSS Stewart platform

摘要

This document presents a criterion for selecting the mechanical parameters of a Stewart platform of type 6 RSS. A Simulator of the platform in SimMechanics with configurable parameters was created. The simulations were used to carry out a study of the relationships between these parameters and the workspace achievable by the platform. From the obtained conclusions, recommendations and guidelines are extracted. These results will help to design and build a Stewart platform for a particular application.