Investigation of the Stewart Platform Workspace Using MATLAB-Simulink and Simscape Multibody Library

The paper deals with the determination of the Stewart platform workspace using the simulation model created in the software MATLAB-Simulink and the Simscape Multibody library. The workspace investigation is performed with the use of the created simulation model that is used to find points in the space that meet certain criteria. Obtained set of points that meet defined criteria is considered as the workspace approximation for the constant orientation of the moving platform. The presented workspace approximation method can be used for the optimization of the mechanical structure of the Stewart platform and for the path planning of its moving platform.