A Programmable Six-axis Compliant Device based on a Gough-Stewart parallel platform

The goal of this project is to develop a system able to control the movement of a parallel platform according to the external forces applied to it. The project includes 1) the Gough-Steward parallel robot, created and assembled at IRI’s lab; 2) 6 Dynamixel rotatory actuators, to move the platform; 3) an OpenCM 9.04 microcontroller board to get the reading of the forces provided by 4) a conditioning circuit for the 5) 6 load-cells located at each arms of the platform. In this project it is described how the communication between the actuators, the electronic board and the computer, which acts as the master, is established. It is specified what kind, and how, the communication is performed between each device in order to send and receive data. Finally, the proper kinematic study has been done to set the different configurations that the platform demands according the identification of the forces applied over the platform