Abstract—A simulation environment proposal is presented concerning the kinematics, dynamics and control analyses of a Stewart type Platform Manipulator through developed software that allows changing parameters such as translation and orientation of the upper base in order to test different settings. The mathematical model for the platform is presented and implemented so its results can be analyzed with the simulator. I. INTRODUCTION HE Stewart-Gough platform corresponds to a classical design for positioning and motion control, originally proposed in 1965 as a flight simulator [1], and still commonly used for that purpose. It is a parallel mechanism, with six linearly actuated legs with varying combinations of leg-platform connections applied in a large variety of industrial problems like manufacturing of complex forms, aerospace, automotive, nautical, and machine-tool technology[2]. Usually, six legs are spaced around the top plate and share the load on the top plate. This differs from serial designs, such as robot arms, where the load is supported over a long moment arm. The position and orientation of the mobile platform varies depending on the lengths to which the six legs are adjusted. Different simulation platforms have been implemented in order to validate the manipulator’s model and its behavior in various environments using virtual reality tools [7] and graphics methods [8], and so a mathematical model has been established and a simulation software programmed [9]. Through this work the mathematical model of the Stewart-Gough platform is implemented for creating simulation software that allows changing different parameters such as geometry, actuators length and controller setup. The results after testing various configurations are shown at the end of this paper. II. MATHEMATICAL DESCRIPTIONS The Stewart-Gough platform can accomplish a large number of complex tasks [3], it is a 6 DOF parallel mechanism that consists of a rigid body top plate or mobile plate, connected to a fixed base plate through six independent kinematics (1) UNICAMP – Faculty of Mechanic Engineering – Laboratory of Automation and Robotics 13083-970 – Campinas, SP, Brazil (rosario@ fem.unicamp.br). http://www.fem.unicamp.br/~lar (2) SUPELEC – Department of Automatic Control 91192 – Gif – sur- Yvette, France. legs. These legs are identical kinematics chains, composed of a universal joint, a linear electrical actuator, and a spherical joint [4]. A. Manipulator Geometry The geometrical model of a platform expresses the position of the links due to a fixed coordinate system linked at the base and the platform of the manipulator. (Fig. 1) The bottom base geometry (dark grey zone in figure 1) it is designated by the B1 to B6 points, and the upper base (light grey zone) by the P1 to P6 points [4]. Fig. 1. Platform Geometry The links of the platform are defined by: ܣൌ ݎ ݏሺ ߙ ሻ ݎ ݏሺ ߙ ሻ Ͳ ൌ ܣ ݔܣ ݕܣ ݖ൩ (1) ߙ ൌ ߨ͵ െ ʹ ൌ ͳ,͵,ͷ ߙ ൌ ߙଵ ൌ ʹ,Ͷ, And the links of the base by: ܤൌ ݎ ݏሺ ߚ ሻ ݎ ݏሺ ߚ ሻ Ͳ ൩ൌ ܤ ݔܤ ݕܤ ݖ൩ (2) ߚ ൌ ߨ͵ െ ʹ ൌ ͳ,͵,ͷ ߚ ൌ ߚଵ ൌ ʹ,Ͷ, B. Inverse Kinematics The inverse kinematics model of the manipulator expresses the joints linear movements as function of position and orientation due to a fixed coordinate system linked at the base of the platform (Fig. 2), that is: q ୧ ൌ f൫P ሬ ሬ Ԧ ൯ (3) Where ݍ ൌ ሺ ܮଵ ܮ,ଶ ܮ,ଷ ܮ,ସ ܮ,ହ ܮ, ሻ represents the linear Simulation Environment Proposal, Analyses and Control for a Parallel Manipulator F. A. Lara (1) J.M. Rosario (1) O. F. Aviles (1) A. J. Uribe (1) D. Dumur (2) T