paralleelmanipulaator

A paralleelmanipulaator, also known as a parallel manipulator or Stewart platform, is a mechanical linkage used in robotics and engineering. It consists of two platforms connected by multiple kinematic chains, or legs. Each leg is typically a prismatic or revolute joint, allowing for controlled movement. The key characteristic of a paralleelmanipulaator is that all its legs are connected to the base platform at one end and to the moving platform at the other end. This arrangement allows the moving platform to be positioned and oriented in space with six degrees of freedom (three translational and three rotational).

The motion of the moving platform is achieved by actuating the legs. By controlling the length or angle of each leg, the position and orientation of the upper platform can be precisely adjusted. This parallel architecture offers several advantages over serial manipulators, such as higher stiffness, accuracy, and load-carrying capacity. However, they can also have a more complex inverse kinematics.

Paralleelmanipulaators find applications in various fields. They are used in flight simulators to mimic aircraft motion, in precision machining and assembly for their high accuracy, and in medical robotics for minimally invasive surgery. They are also employed in camera stabilization systems and in the development of haptic interfaces. The design and control of paralleelmanipulaators are active areas of research in robotics and mechanical engineering.