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( Stewart platform)
A Stewart platform 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). 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. There are six independently actuated legs, where the lengths of the legs are changed to position and orient the platform. The forward kinematics problem, a system of equations which given the leg lengths, yields the position and orientation of the platform, has up to 40 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.
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