Design, Construction, and Implementation of a Stable Platform Based on the Stewart Mechanism

This paper presents the design, development, and experimental evaluation of a two-degree-of-freedom (۲-DOF) stabilization platform derived from a modified Stewart mechanism. While a conventional Stewart platform provides six degrees of freedom through six actuators, the proposed system achieves robust roll and pitch stabilization using only three actuators, thereby significantly reducing mechanical complexity and cost. An Attitude and Heading Reference System (AHRS) is integrated to obtain real-time orientation data, and inverse kinematic equations are formulated to determine the required actuator positions. To enable fast and computationally efficient control on an AVR microcontroller, a second-order polynomial surface-fitting model is developed for direct estimation of servo commands. Experimental tests using synchronized multi-angle cameras confirm that the upper platform effectively isolates roll and pitch disturbances transmitted from the base, maintaining a stable, horizon-aligned orientation under continuous dynamic motion. The results demonstrate that the proposed mechanism offers a compact, low-cost, and semi-industrial solution for stabilizing sensitive payloads—such as onboard cameras—exposed to high-frequency, low-amplitude perturbations