3-DOF STEWART-BASED THROUGH DIGITAL TWIN

This project focuses on developing a 3-DOF Stewart-based platform integrated with digital twin technology in collaboration with Bosch Rexroth. The platform provides three controlled motions: heave, roll, and pitch, using a 3-RPS parallel mechanism. The main objective is to combine simulation, embedded control, industrial automation, and physical motion into one integrated system.

A MATLAB/Simulink digital twin is developed to model the Stewart platform and validate the inverse kinematics algorithm before applying it to the physical system. In parallel, Bosch Rexroth’s 3D Viewer is used as another digital twin environment for developing and testing PLC control on the ctrlX CORE.

The physical control system uses an STM32 NUCLEO-H753ZI to receive motion commands, perform inverse kinematics calculations, and generate actuator control commands. 



The expected outcome is an integrated system where heave, roll, and pitch commands from the ctrlX HMI are transferred to the STM32 and converted into coordinated linear actuator movements, allowing the physical Stewart platform to accurately follow the requested motion.