DIMENSIONAMENTO GEOMETRICO E CINEMATICO DI UNA PIATTAFORMA DI STEWART PER APPLICAZIONI DI LIQUID SLOSHING

The Stewart Platform consists of six actuators that support the mobile platform for numerous applications such as: flight and driving simulation, part handling, wave compensation and liquid sloshing. For the set of components and technical requirements used in this thesis, the size of the workspace depends exclusively on the arrangement of the anchor points, in other words, the way in which these components are mounted together. Therefore, the aim of this thesis is to analyze the different motions that a Stewart Platform consisting of components provided by the New Jersey Institute of Technology (NJIT) can accomplish, by altering the geometric arrangement of the components. Secondly, the intent is to determine the best mounted solution to achieve the desired platform requirements for liquid sloshing applications.