What Is a Stewart Platform?

The Stewart platform parallel mechanism has the characteristics of large rigidity, strong bearing capacity, and non-accumulation of position errors. It is complementary to the series mechanism in application and has become a research hotspot in space mechanism. At present, the Stewart platform parallel mechanism has been widely used in aviation, aerospace, subsea operations, underground mining, manufacturing and assembly industries. Although a lot of research results have been obtained in the practical application and theoretical research of parallel mechanisms, there are still some challenging problems in kinematics, singularity and dynamics, such as the solution of the Jacobian matrix of parallel mechanisms with few degrees of freedom. 1 unified method; seeking an algorithm that can find all the solutions to the forward position of the parallel mechanism; seeking an efficient solution to the inverse dynamics problem, etc. The Jacobian matrix is one of the main contents of the Stewart platform parallel mechanism. It represents a mapping from the input joint to the output of the end effector.

stewart platform

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The Stewart platform parallel mechanism has the characteristics of large rigidity, strong bearing capacity, and non-accumulation of position errors. It is complementary to the series mechanism in application and has become a research hotspot in space mechanism. At present, the Stewart platform parallel mechanism has been widely used in aviation, aerospace, subsea operations, underground mining, manufacturing and assembly industries. Although a lot of research results have been obtained in the practical application and theoretical research of parallel mechanisms, there are still some challenging problems in kinematics, singularity and dynamics, such as the solution of the Jacobian matrix of parallel mechanisms with few degrees of freedom. 1 unified method; seeking an algorithm that can find all the solutions to the forward position of the parallel mechanism; seeking an efficient solution to the inverse dynamics problem, etc. The Jacobian matrix is one of the main contents of the Stewart platform parallel mechanism. It represents a mapping from the input joint to the output of the end effector.

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