Design and Kinematic Analysis of a Hexapod Stewart Platform

Abstract

This thesis develops an educational digital twin system for the Stewart Platform, a six-degree-of-freedom parallel manipulator that is rarely taught due to its complexity and the high cost of physical hardware. The system enables real-time online simulation of an educational-scale hexapod capable of reproducing motion profiles from aerospace and racing applications, allowing students to explore high-performance mechanisms without requiring access to advanced laboratories. The work guides learners through a complete development path (modeling, assembling, and simulating the platform from scratch), which strengthens understanding of kinematics, spatial reasoning, and robotic integration. By using accessible online environments, the thesis demonstrates that mechanics, electronics, and software function as a unified system in mechatronic design. The thesis promotes an exploration-based learning approach aimed at developing confident multidisciplinary engineers who understand complex robotic systems through hands-on experience and deep conceptual engagement.