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1.7 KiB
+++ title = "The stewart platform manipulator: a review" author = ["Thomas Dehaeze"] draft = false +++
- Tags
- [Stewart Platforms]({{< relref "stewart_platforms" >}})
- Reference
- (Bhaskar Dasgupta & Mruthyunjaya, 2000)
- Author(s)
- Dasgupta, B., & Mruthyunjaya, T.
- Year
- 2000
Table 1:
Parallel VS serial manipulators
| 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.
Bibliography
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 ↩