Stewart Platform
What?
3D printed Stewart Platform
An omni-rotational and omni-translational platform.
How?
Derived an inverse kinematics model to orient the platform in 3D space.
CAD in Autodesk Inventor
Uses 6 x RC servos to actuate the platform
Polulu Maestro controller to accelerate the servos
Camera vision to track the ball (pixy2 camera)
PD algorithm to balance ball
Results?
Fast reaction time
Won judge’s prize ($500) in the Anything Goes Contest
Fully documented and open-sourced
Could be improved by using stepper motors