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The Stewart platform with six degree of freedom (three translational and three rotational motions) consists of two rigid bodies, lower plate (base) and upper one (mobile). These two bodies are connected together by six extensible legs between three pairs of joints on each of the bodies. This platform can be used to isolate the top plate of the platform and its payload from the applied motions to the base. Since the passive isolation methods are not effective in elimination of the high amplitude (and usually) low frequency motions, this paper practically investigates the possibility of using the 6DOF Stewart platform as an active vibration isolator. In this study, a Stewart platform was designed and constructed based on electric actuators (servo-motors). And then it was practically utilized to isolate its top plate from the applied pitch and roll rotations to the base plate. MEMS sensors including two accelerometers and one rate gyro along with Kalman filter and kinematic relations were utilized for measuring the pitch and roll motions. A PI controller was implemented to keep the top plate at level position using the MEMS sensors installed on the bottom plate. The experimental results indicated that the platform can effectively isolate the pitch and roll motions while the frequency of these motions is in the working speed range of the electric actuators.

Keywords: stewart platform, Active Vibration Isolation, MEMS Sensors, Kalman Filter

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