38 lines
1.7 KiB
Markdown
38 lines
1.7 KiB
Markdown
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title = "The stewart platform manipulator: a review"
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author = ["Thomas Dehaeze"]
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draft = false
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Tags
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: [Stewart Platforms]({{< relref "stewart_platforms" >}})
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Reference
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: <sup id="ad17e03f0fbbcc1a070557d7b5a0e1e1"><a href="#dasgupta00_stewar_platf_manip" title="Bhaskar Dasgupta \& Mruthyunjaya, The Stewart Platform Manipulator: a Review, {Mechanism and Machine Theory}, v(1), 15-40 (2000).">(Bhaskar Dasgupta \& Mruthyunjaya, 2000)</a></sup>
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Author(s)
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: Dasgupta, B., & Mruthyunjaya, T.
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Year
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: 2000
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<a id="table--tab:parallel-vs-serial-manipulators"></a>
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<div class="table-caption">
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<span class="table-number"><a href="#table--tab:parallel-vs-serial-manipulators">Table 1</a></span>:
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Parallel VS serial manipulators
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</div>
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| | **Advantages** | **Disadvantages** |
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|--------------|---------------------------|-----------------------|
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| **Serial** | Manoeuverability | Poor precision |
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| | Large workspace | Bends under high load |
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| | | Vibrate at high speed |
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| **Parallel** | High stiffness | Small workspace |
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| | Good dynamic performances | |
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| | Precise positioning | |
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The generalized Stewart platforms consists of two rigid bodies (referred to as the base and the platoform) connected through six extensible legs, each with sherical joints at both ends.
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# Bibliography
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<a id="dasgupta00_stewar_platf_manip"></a>Dasgupta, B., & Mruthyunjaya, T., *The stewart platform manipulator: a review*, Mechanism and Machine Theory, *35(1)*, 15–40 (2000). http://dx.doi.org/10.1016/s0094-114x(99)00006-3 [↩](#ad17e03f0fbbcc1a070557d7b5a0e1e1)
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