stewart平台 六自由度 开源matlab项目整理

目前百度搜索到的github项目内容较少，本文将减少大学人员 重复劳动、提供灵感，避免某鱼高价倒卖开源项目

一、运动学开源，简易结构

GitHub - nairck/6-6_Stewart_Platform_InverseKinematicsCalculator: An initial program prototype for the inverse kinematic solutions for any general 6-6 Stewart-Gough platform. This program was specifically designed for the alignment of an input focus for an optical bench pathfinder instrument. In the zero-displacement configuration, 6 base and 6 platform X and Y coordinates can be input, with limits, and Z distances to each plane, and the length of each prismatic joint is given, with relative distances from previous posture, and absolute distances from Z.D.C. to monitor joint limits.An initial program prototype for the inverse kinematic solutions for any general 6-6 Stewart-Gough platform. This program was specifically designed for the alignment of an input focus for an optical bench pathfinder instrument. In the zero-displacement configuration, 6 base and 6 platform X and Y coordinates can be input, with limits, and Z distances to each plane, and the length of each prismatic joint is given, with relative distances from previous posture, and absolute distances from Z.D.C. to monitor joint limits. - nairck/6-6_Stewart_Platform_InverseKinematicsCalculatorhttps://github.com/nairck/6-6_Stewart_Platform_InverseKinematicsCalculator/tree/mainhttps://github.com/nairck/6-6_Stewart_Platform_InverseKinematicsCalculator/tree/main

2.基于前一个版本的修改升级

https://github.com/nairck/6-6_Stewart_Platform_InverseKinematicsCalculator

二、stewart平台动力学解算 

1. 牛顿欧拉法

三、stewart平台完整体仿真建模

matlab完整体，版本兼容 由低到高，16版本几乎都能打开

R2016版Stewart Platform Mechanical System - File Exchange - MATLAB CentralDownload and share free MATLAB code, including functions, models, apps, support packages and toolboxeshttps://ww2.mathworks.cn/matlabcentral/fileexchange/2334-stewart-platform-mechanical-system

2017版是z轴

2019版  https://ww2.mathworks.cn/help/sm/ug/stewart-platform.html?requestedDomain=cn