Parallel platform aka.Jellyfish                                       [Back]

This project was inspired from http://www.youtube.com/watch?v=a2rM5Zy5T5Y.

I built an MATLAB GUI to design and analyze 6 DOF RUU parallel platform. With this GUI, it was possible to analyze the workspace of the manipulator with different design parameters as well as to control the motion of the end effecter. After selecting the optimal desgin, the mechanical part was built using RC servos, simple materials and LEGO universal joints. A basic stamp was used as a hub to talk with MATLAB through serial port and to servo controller board. It also read the accelerometer mounted on the end effecter which was used to measure the tilt angle. In order to control the platform, I used a Sidewinder force feedback joystick.

Here are some fun pictures and movie:

GUI and structure	platform	servos and joints

Demo Run