Design and Realisation of the Simulation Model of the Stewart Platform using the MATLAB-Simulink and the Simscape Multibody Library

The paper deals with the derivation, realisation, and use of the simulation model of the Stewart platform using the simulation programme MATLAB-Simulink and the Simscape Multibody library. The creation of the simulation model of the parallel mechanism in the Simscape Multibody library using the imported data from the CAD software is presented in the paper. The presented simulation model allows the dynamic simulation of the platform for the desired change of the position and can be used for the optimization of the kinematic structure, actuators dimensioning, control design, and investigation of the workspace of the designed Stewart platform.