6DOF pendulum

Hi all. For the first time in my life I publish a topic on the forum (and immediately in English)))!
this is not my native language, so I write through a translator (glory to the 21st century!)

The essence of my project is as follows. To save on motors and gearboxes, I decided to make a movable part of the drive in the form of a pendulum with a mount in the upper part. they will be powered by nema23 motors through a belt. and it will be managed by esp32. The project is at the design stage and I have already discovered errors that I will fix in the near future.

I want to ask the forum's inhabitants for advice. I am weak in electronics, so I ask you to give a link to the code for esp32, which will work with stepper motors nema 23. for control, I wanted to try FLYPT mover. there is connection information in his branch, but he uses BLDC will his code work correctly with nema 23?

Comment on the photo. In theory, a pair of small scale pendulum can be considered as a belt reducer 1:12 belt plan module 5 (if it does not work like that, please correct me). the gas lift located at the bottom performs the role of balance. in theory, it should balance the load from the platform and the person. this is done in order to reduce the load on the motor.

the red color shows the belt and the movement of the pendulum. The green color is the place where the thrust is fixed. Blue is the cable balancing the platform

Thanks a lot for the answer. Yes, indeed it is, I just read it and found a way that would be more suitable for me.