The singularities and dynamics of a Stewart platform manipulator

Abstract

The Stewart platform manipulator is a fully parallel kinematic linkage system that has major mechanical differences over typical serial link robots. Its closed kinematic chain and parallel linkage structure give it great rigidity and a high force-to-weight ratio. In this paper, based on the forward and inverse kinematic analysis, the Jacobian matrix and the… (More)
DOI: 10.1007/BF01257946

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Cite this paper

@article{Liu1993TheSA, title={The singularities and dynamics of a Stewart platform manipulator}, author={Kai Liu and Frank L. Lewis and Guy Lebret and David Taylor}, journal={Journal of Intelligent and Robotic Systems}, year={1993}, volume={8}, pages={287-308} }