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  • Milutix commented on thiagohersan's instructable Stewart Platform7 months ago
    Stewart Platform

    Hello thiagohersan, My platform is identical to yours in a mechanical sense, apart from the fact that the rods are no where near perpendicular to the motion of the servo horn. (It's similar to your "instructable" platform, not your newer improved version. :)I was trying to increase the roll, pitch and yaw capabilities of the platform by making the platform much smaller than the base, so that each servo degree would affect the rotation of the platform by a larger magnitude.Thank you for your reply.I have had a look at molvikpm's comment and yes, it does seem that this is the problem that I am also experiencing. Looks like it is time to do some more math research and look into how to include this parameter in the calculations. Thanks again! :D

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  • Milutix commented on thiagohersan's instructable Stewart Platform8 months ago
    Stewart Platform

    Hello thiagohersan,This project is really interesting, well done on successful building the platform!! :DI have build my own prototype via the help of this project. I do, however, have one question which I am trying to get an answer to.My platform can rotate around the XYZ axes nicely, however when the platform moves along the X, Y, Z planes, it does so while also rotating slightly.To phrase the problem in another way:If the platform is currently at X=0, Y=0, Z=0; R(roll) = 0, P(pitch) = 0, Y(yaw) = 0;and I set the platform to move to:X=10, Y=0, Z=0;Instead of the R, P, and Y values staying at 0, they change to something like:R = 1, P = 4, Y = 1;Would this be a mechanical fault (1), an error due to the servos being inaccurate (2) (I am using Chinese servos with no feedback on their posi...see more »Hello thiagohersan,This project is really interesting, well done on successful building the platform!! :DI have build my own prototype via the help of this project. I do, however, have one question which I am trying to get an answer to.My platform can rotate around the XYZ axes nicely, however when the platform moves along the X, Y, Z planes, it does so while also rotating slightly.To phrase the problem in another way:If the platform is currently at X=0, Y=0, Z=0; R(roll) = 0, P(pitch) = 0, Y(yaw) = 0;and I set the platform to move to:X=10, Y=0, Z=0;Instead of the R, P, and Y values staying at 0, they change to something like:R = 1, P = 4, Y = 1;Would this be a mechanical fault (1), an error due to the servos being inaccurate (2) (I am using Chinese servos with no feedback on their position), or would it be in my mathematical model being incorrect (3)? Thank you for reading this.Milutin

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