Inverse kinematics and path planning of Stewart Platform using crank arm actuation system

In this paper a modified form of Stewart Platform has been introduced. Stewart Platform consists of six legs which connect a stationary Plate of Platform to the moveable Platform through six legs. The connecting legs in this work have been modified in a way that results in cost effective model. This approach allows cheap stepper motor to be used as actuator. This configuration also renders more workspace in advantage but with the disadvantage in the form less load carrying capability. The inverse kinematics for this model have developed and applied in path calculations.