Kinematic analysis, bond-graph modelling and simulation of a 3x3 Stewart platform with force feedback

The Stewart Platform Mechanism is a paralel mechanism which has six acturtors mounted on a fixed plate and an end effector for spatial motion. This mechanism has first proposed as a flight Simulator in 1965 by D.Stewart and in the course of time many researchers has studied on this mechanism. In this study, kinematic and dynamic behavior of a Stewart Platform Mechanism was explained and these kinematic and dynamic charactheristics of Stewart Platform Mechanism was observed with computer based real time simulations. Furthermore Bondgraph modelling were applied on this mechanism and the workspace of platform was obtained. Keywords: SPM, Stewart Platform Mechanism, 3x3 Stewart Platform, Inverse Kinematic Analysis, Direct Kinematic Analysis, Dynamic Analysis, Bondgraph, Workspace Analysis.