Kinematics and Dynamics of a Stewart Platform

Betreuer: Sven Tittel

A Stewart platform is one of the best known parallel kinematic structures in
robotics. Although its six active joints are all prismatic, a Stewart
platform is able to move in all six degrees of freedom in Cartesian space.
his is possible due to the twelve additional passive spherical joints. The
seminar topic aims to present an analysis of the kinematics and dynamics of a Stewart platform.

[1] Kinematic and Dynamic Analysis of Stewart Platform-based Machine Tool Structures