Bachelor's Thesis

Design and Simulation Of 6-DoF
Stewart Motion Platform

A report submitted in partial fulfilment of the requirement for the award of degree of

Bachelor of Technology in Mechanical Engineering by HARSHIT JAIN
PRAHARSH CHANDRA

under the supervision of
Prof. Subir Kumar Saha

Mechanical Engineering Department
Indian Institute of Technology Delhi
May 2013

Certificates
The work presented in this report has been carried out by Harshit Jain (Entry No:
2009ME10072) and Praharsh Chandra (Entry No: 2009ME10325) for the course MED 412.
The report accurately reflects the work done by us. All the material from the other sources has been fully acknowledged.

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Harshit Jain and Praharsh Chandra have worked under my supervision. I have read this report.
It accurately reflects the work done by the students.

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Abstract
The BTP undertakes the problem of the design, analysis (kinematic and dynamic) and control of a 6-DoF Stewart Platform. While assisting the ongoing project of the Simulator
Development Division of the army, which is based on the design and development of the
Stewart Platform, it also aims to come up with a set of results and analysis which will help in all future work related to the Stewart Platform. A CAD model was first designed and built based on static load conditions after which the task of detailed kinematic and dynamic analysis was undertaken using SimMechanics, a block diagram environment in MATLAB, which was then also used for controlling the virtual model. This was done for multiple mechanisms, the
4-bar and the 3-RRR mechanism, before finally being done for the Stewart Platform. A GUI was built in order to provide a simple and direct platform for the analysis of the aforementioned mechanisms, especially the Stewart Platform.
A large part of the project also focusses on the intriguing problem of the forward kinematic

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