Stewart platform
From Wikipedia, the free encyclopedia
A Stewart platform, also known as a hexapod positioner, is a kind of parallel manipulator using an octahedral assembly of struts. A Stewart platform has six degrees of freedom (x, y, z, pitch, roll, & yaw).
There are six independently actuated legs, where the lengths of the legs are changed to position and orient the platform. The forward kinematics problem, an equation which given the leg lengths, finds the position and orientation of the platform, has 16 solutions. However, the inverse kinematics problem (i.e. given the position and orientation of the platform, find the required leg lengths) has a unique and very simple solution.
Stewart platforms have applications in machine tool technology, crane technology, underwater research, air-to-sea rescue, flight simulation, satellite dish positioning, telescopes and orthopedic surgery.
James S. Albus of the National Institute of Standards and Technology (NIST) has developed a crane, known as RoboCrane®, which uses the Stewart platform technology.
Geodetic Technology trademarked "hexapod" for a Stewart platform in a machine tool context.
Dr. Charles Taylor utilized the Stewart platform to develop the Taylor Spatial Frame [1], an external fixator used in orthopedic surgery for the correction of bone deformities and treatment of complex fractures.
The Stewart platform was first reported in a paper by V. E. Gough in 1956. The name of Stewart was attached to this architecture because Gough's earlier work (and a photograph of his platform) were mentioned in the reviewers' remarks to a paper by D. Stewart published in 1965; in that paper, Stewart presents another hybrid design, with three legs having two motors each.
[edit] References
- D. Stewart, A Platform with Six Degrees of Freedom, UK Institution of Mechanical Engineers Proceedings 1965-66, Vol 180, Pt 1, No 15.
- Gough, V. E., Contribution to discussion of papers on research in Automobile Stability, Control and Tyre performance, Proc. Auto Div. Inst. Mech. Eng., pages 392-394, 1956-1957.
[edit] External links
- National Institute of Standards and Technology
- LME Hexapod Machine
- The True Origins of Parallel Robots
- SYMETRIE - Positioning, Measurement and Motion Hexapod System
- Hexapod Six-Axis Precision Micro-Positioning Systems
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