The Kinematics of a Parallel-Linkage Robot

  • D. M. J. Harris
  • D. McCloy
Conference paper


The kinematics of a parallel-linkage robot based on the Stewart platform are analysed. From the desired motion of the tool are derived the linear and angular positions, velocities and accelerations of all parts of the manipulator. The analysis is general, and applies to any fully parallel robot with linear actuators.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • D. M. J. Harris
    • 1
  • D. McCloy
    • 1
  1. 1.Faculty of Science and TechnologyUniversity of UlsterNewtownabbey, County AntrimUK

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