6DOF v1

My first attempt of a Stewart Platform (6 Degrees of freedom) using (6) EMax Ex08MAII servos. I used M3x10 screws and the servo linkage is formed from 1mmø paper clip wire. I was unable to correctly calculate the servo angles so I have moved to a servo linear actuator style to eliminate actuator rotation effect. I have included my excel calculator along with the files for reference. It correctly calculates the actuator length but incorrectly calculates servo angle due to the actuators relative rotation. Any input regarding this would be appreciated. Will post linear actuator version soon.

Limits:
X +/-18mm
Y +/-18mm
Z +/-16.5mm (Z Home +60mm)
X:X +/-15°
Y:Y +/-20°
Z:Z +/-25°
Servo Link Length = 60mm
Servo Arm Length = 25mm

Best Regards,