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Analytical study of Stewart platform workspaces

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3 Author(s)
Bessala, J. ; LRP, Velizy, France ; Bidaud, P. ; Ben Ouezdou, F.

We apply analytical methods of workspace determination of mechanical systems to Stewart platforms. Four main tools are needed. The modelling gives the relationships between the parameters of the system. Mathematical analysis leads to a universal (i.e. not personal) approach and results. Mathematical optimization is used for the analytical approach to function minimization. The computer algebra used is both theoretical and practicable, since the calculations involved are likely to be very complex

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996