140:
48:
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389:, England. He developed his "Universal Tyre-Testing Machine" (also called the "Universal Rig") in the 1950s and his platform was operational by 1954. The rig was able to mechanically test tyres under combined loads. Dr. Gough died in 1972 but his testing rig continued to be used up until the late 1980s when the factory was closed down and then demolished. His rig was saved and transported to the
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behaviour. Such requirements are also encountered in the civil engineering field for seism simulation. Controlled by a full-field kinematic measurement algorithm, such machines can also be used to study complex phenomena on stiff specimens (for example the curved propagation of a crack through a concrete block) that need high load capacities and displacement accuracy.
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Recent applications: the rebirth of interest for a mechanical testing machine based on Gough-Stewart platform occurred in the mid '90s. They are often biomedical applications (for example spinal study) because of the complexity and large amplitude of the motions needed to reproduce human or animal
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In this role, the payload is a replica cockpit and a visual display system, normally of several channels, for showing the outside-world visual scene to the aircraft crew that are being trained.
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independently developed the same hexapod. Klaus patented his design and licensed it to the first flight simulator companies, and built the first commercial octahedral hexapod motion simulators.
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is a more appropriate name because the original
Stewart platform had a slightly different design, while others argue that the contributions of all three engineers should be recognized.
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The
Computer Assisted Rehabilitation Environment developed by Motek Medical uses a Stewart platform coupled with virtual reality to do advanced biomechanical and clinical research.
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in which it is possible for a freely-suspended body to move: three linear movements x, y, z (lateral, longitudinal, and vertical), and the three rotations (pitch, roll, and yaw).
739:
Michopoulos, John G.; Hermanson, John C.; Furukawa, Tomonari (2008). "Towards the robotic characterization of the constitutive response of composite materials".
124:
88:, attached in pairs to three positions on the platform's baseplate, crossing over to three mounting points on a top plate. All 12 connections are made via
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to simulate short term acceleration. Long term acceleration can be simulated by tilting the platform, and an active research area is how to mix the two.
874:
115:, due to the synergy (mutual interaction) between the way that the actuators are programmed. Because the device has six actuators, it is often called a
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because of its possible motions and, because the motions are produced by a combination of movements of multiple actuators, it may be referred to as a
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313:
160:
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Stokes, Ian A.; Gardner-Morse, Mack; Churchill, David; Laible, Jeffrey P. (2002). "Measurement of a spinal motion segment stiffness matrix".
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Stewart platforms are known by various other names. In many applications, including in flight simulators, it is commonly referred to as a
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Gough, V. E. (1956–1957). "Contribution to discussion of papers on research in
Automobile Stability, Control and Tyre performance".
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Jailin, Clément; Carpiuc, Andreea; Kazymyrenko, Kyrylo; Poncelet, Martin; Leclerc, Hugo; Hild, François; Roux, Stéphane (2017).
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For prototyping and low budget applications, typically rotary servo motors are used. A unique closed form solution for the
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In industrial applications, linear actuators (hydraulic or electric) are typically used for their simple and unique
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and was operational in 1954, the design later being publicised in a 1965 paper by D Stewart to the UK
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developed by NASA uses a
Stewart platform to manipulate space vehicles during the docking process.
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is a motion-compensated gangway using a
Stewart platform. This allows access from a moving
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8:
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Lazard, D.; Merlet, J. -P. (1994). "The (true) Stewart platform has 12 configurations".
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215:, crane technology, underwater research, simulation of earthquakes, air-to-sea rescue,
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Stewart platforms have applications in flight simulators, machine tool technology,
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Proceedings of the 1994 IEEE International
Conference on Robotics and Automation
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Eric Gough's Tire
Testing Machine, which is a Stewart platform with large jacks
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for the correction of bone deformities and treatment of complex fractures.
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which requires all 6 degrees of freedom. This application was developed by
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40:
159:. In 1962, prior to the publication of Stewart's paper, American engineer
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Personnel transfer from an offshore construction via an
Ampelmann system
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Journal of the
Brazilian Society of Mechanical Sciences and Engineering
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First application: Eric Gough was an automotive engineer and worked at
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19:
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Stewart, D. (1965–1966). "A Platform with Six
Degrees of Freedom".
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765:
483:"Application of H∞ theory to a 6 DOF flight simulator motion base"
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Dr. J. Charles Taylor used the Stewart platform to develop the
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closed form solution and their good strength and acceleration.
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of rotary actuators also exists, as shown by Robert Eisele
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Picture of the NIST/Ingersoll prototype octahedral hexapod
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27:
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Becerra-Vargas, Mauricio; Morgado Belo, Eduardo (2012).
119:(six legs) in common usage, a name which was originally
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Parallel Robots - Second Edition by J.P. Merlet (p. 48)
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Proceedings of the Institution of Mechanical Engineers
92:. Devices placed on the top plate can be moved in the
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Computer Assisted Rehabilitation ENvironment (CAREN)
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Fraunhofer Research: Hexapod Robot for Spine Surgery
239:The Stewart platform design is extensively used in
147:This specialised six-jack layout was first used by
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820:Journal of the Mechanics and Physics of Solids
813:"Virtual hybrid test control of sinuous crack"
314:National Institute of Standards and Technology
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393:storage facility at Wroughton near Swindon.
647:"Inverse Kinematics of a Stewart Platform"
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170:is commonly used, some have posited that
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667:"1962 | 1616 | Flight Archive"
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235:A Stewart platform in use by Lufthansa
584:"The True Origins of Parallel Robots"
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223:, robotics, and orthopedic surgery.
857:The True Origins of Parallel Robots
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157:Institution of Mechanical Engineers
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645:Robert Eisele (24 February 2019).
219:, satellite dish positioning, the
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711:The History of the Pneumatic Tyre
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566:10.1243/pime_proc_1965_180_029_02
753:10.1016/j.compstruct.2008.03.009
539:Proc. Auto Div. Inst. Mech. Eng.
39:experiment, is mounted on a 6 m
23:An example of a Stewart platform
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500:10.1590/S1678-58782012000200011
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875:Hexapod Structures for Surgery
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433:even in high wave conditions.
293:Similar platforms are used in
127:for Stewart platforms used in
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297:, typically mounted on large
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16:Type of parallel manipulator
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859:", ParalleMIC online review
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113:synergistic motion platform
103:. It is sometimes called a
37:cosmic microwave background
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840:10.1016/j.jmps.2017.03.001
134:
696:"J. Charles Taylor, M.D."
614:10.1109/ROBOT.1994.350969
443:Acceleration onset cueing
338:Low Impact Docking System
895:Mechanisms (engineering)
343:
768:Journal of Biomechanics
708:Tompkins, Eric (1981).
331:
277:Lockheed C-130 Hercules
143:Two hexapod positioners
431:offshore constructions
427:platform supply vessel
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391:Science Museum, London
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253:Sud Aviation Caravelle
243:, particularly in the
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172:Gough–Stewart platform
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94:six degrees of freedom
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880:Hexapod for Astronomy
560:(1, No 15): 371–386.
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316:(NIST) developed the
245:full flight simulator
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741:Composite Structures
458:Parallel manipulator
358:Taylor Spatial Frame
352:Taylor Spatial Frame
74:parallel manipulator
60:Hexapod during the "
832:2017JMPSo.102..239J
714:. Dunlop. pp.
402:Motion compensation
166:Although the title
125:Geodetic Technology
78:prismatic actuators
35:radio telescope, a
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372:Mechanical testing
366:orthopedic surgery
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295:driving simulators
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201:inverse kinematics
189:inverse kinematics
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725:978-0-903214-14-8
623:978-0-8186-5330-8
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241:flight simulators
227:Flight simulation
221:Hexapod-Telescope
105:six-axis platform
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905:1954 in robotics
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463:Robot kinematics
423:Ampelmann system
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362:external fixator
269:Vickers Vanguard
265:Vickers Viscount
217:mechanical bulls
195:Rotary actuation
183:Linear actuation
168:Stewart platform
149:V E (Eric) Gough
90:universal joints
86:linear actuators
70:Stewart platform
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774:(4): 517–521.
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673:on 2016-03-06.
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383:Dunlop Tyres
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213:animatronics
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207:Applications
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161:Klaus Cappel
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84:or electric
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41:carbon fibre
826:: 239–256.
385:factory in
379:Fort Dunlop
285:Fokker F-27
121:trademarked
101:motion base
80:, commonly
889:Categories
652:2023-10-25
589:24 January
541:: 392–394.
469:References
387:Birmingham
299:X-Y tables
261:Boeing 727
776:CiteSeerX
318:Robocrane
305:Robocrane
287:by 1962.
263:, Comet,
178:Actuation
62:Army-2021
798:11934421
448:Actuator
437:See also
364:used in
43:hexapod.
828:Bibcode
632:6856967
312:of the
249:Redifon
151:of the
135:History
117:hexapod
796:
778:
722:
716:86, 91
630:
620:
381:, the
283:, and
816:(PDF)
628:S2CID
360:, an
344:CAREN
33:AMiBA
794:PMID
720:ISBN
618:ISBN
591:2020
421:The
336:The
332:LIDS
31:The
836:doi
824:102
786:doi
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610:doi
562:doi
558:180
495:doi
429:to
123:by
107:or
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153:UK
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