The Stewart Platform Manipulator: A Review
by Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
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 \SP 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 \SP in particular and parallel manipulators in general are
recommended.