Hydraulic Stewart Platform

This is a high-fidelity six degree of freedom (x, y, z, pitch, roll, yaw) model of a Stewart platform (hexapod). In addition to the basic multibody physical model, it implements hydraulic actuators, and PID controller with inverse kinematic path planning.
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Model Images
  • HydraulicStweartPlatform The solution to the inverse kinematics of the hydraulic stewart platform is visible in both the 2-D plots and 3-D visualization.
  • model Model diagram showing the desired path input and Stewart platform model
  • subsystem Subsystem view of a Stewart platform leg
  • plot Simulation results showing the control error
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