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The Stewart platform manipulator: a review

Dasgupta, Bhaskar and Mruthyunjaya, TS (2000) The Stewart platform manipulator: a review. In: Mechanism and Machine Theory, 35 (1). pp. 15-40.

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This paper presents a state-of-the-art review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. The existing studies in the field are critically examined to ascertain the trends of research in the field and to identify unsolved problems. The Stewart platform being representative of the class of parallel manipulators, the concepts applicable for it have direct relevance to the entire class. The distinctions of this class from the conventional serial robot manipulators are also highlighted and the novel perspectives that are necessary for the analysis and design of the Stewart platform in particular and parallel manipulators in general are recommended.

Item Type: Journal Article
Publication: Mechanism and Machine Theory
Publisher: Elsevier
Additional Information: Copyright of this article belongs to Elsevier.
Keywords: Stewart platform;Parallel manipulators;Series-parallel duality.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 07 Oct 2008 05:21
Last Modified: 19 Sep 2010 04:51
URI: http://eprints.iisc.ac.in/id/eprint/16266

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