6-Dof Stewart platform

               Over the course of 2 months I designed and created my Stewart Platform for class. I started out designing all the required parts in SolidWorks and then creating an assembly out of them. The Platform top and base were 3D printed. While the clear plastic was cut on a laser printer. After I had the base layout of the platform done I plugged in each servo to an Arduino Uno. Using the angles that I derived from SolidWorks I could simulate Roll, Pitch, Yaw, Surge, Sway and Heave with the platform using the six servos. After this proof of concept, I went into Eagle and designed the two boards that are used within the platform. 

               After cutting out the boards on a CNC mill I got to soldering all the connections as well as the Arduino Pro mini which serves as the brain for the platform. Once the boards were in place the platform was fully built, the only thing left to do was program it with Inverse Kinematics. The goal was to be able to feed the Arduino with two vector over the serial port, one for rotation and another for translation. When this was done, I could feed the Arduino live information for Live for Speed using Sim Tools and have it simulate what the car in game was doing.