The Stewart platform manipulator: a review

被引：592

作者：

Dasgupta, B ^{[1
]}

Mruthyunjaya, TS

机构：

[1] Indian Inst Technol, Dept Mech Engn, Kanpur 208016, Uttar Pradesh, India

[2] Indian Inst Sci, Dept Mech Engn, Bangalore 560012, Karnataka, India

来源：

MECHANISM AND MACHINE THEORY | 2000年 / 35卷 / 01期

关键词：

Stewart platform; parallel manipulators; series-parallel duality;

D O I：

10.1016/S0094-114X(99)00006-3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 [机械工程];

摘要：

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. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：15 / 40

页数：26

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