| Stewart Platform |
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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, 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. 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 {Link without Title} , 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. REFERENCES
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