digital-brain/content/article/dasgupta00_stewar_platf_manip.md

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title = "The stewart platform manipulator: a review"
author = ["Thomas Dehaeze"]
draft = false
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Tags
: [Stewart Platforms]({{< relref "stewart_platforms" >}})
Reference
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: ([Dasgupta and Mruthyunjaya 2000](#orgab59d3a))
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Author(s)
: Dasgupta, B., & Mruthyunjaya, T.
Year
: 2000
<a id="table--tab:parallel-vs-serial-manipulators"></a>
<div class="table-caption">
<span class="table-number"><a href="#table--tab:parallel-vs-serial-manipulators">Table 1</a></span>:
Parallel VS serial manipulators
</div>
| | **Advantages** | **Disadvantages** |
|--------------|---------------------------|-----------------------|
| **Serial** | Manoeuverability | Poor precision |
| | Large workspace | Bends under high load |
| | | Vibrate at high speed |
| **Parallel** | High stiffness | Small workspace |
| | Good dynamic performances | |
| | Precise positioning | |
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 {#bibliography}
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<a id="orgab59d3a"></a>Dasgupta, Bhaskar, and T.S. Mruthyunjaya. 2000. “The Stewart Platform Manipulator: A Review.” _Mechanism and Machine Theory_ 35 (1):1540. <https://doi.org/10.1016/s0094-114x(99)>00006-3.