... Stewart–Gough platform. The proposed control scheme decouples the effects of the applied force and moment on the end effector displacement and rotation. Numerical examples are presented, with multibody simulations performed to verify the effectiveness of the proposed approach. The effect of friction...

... of pentapods, we also give a complete list of all nonarchitecturally singular hexapods with two-dimensional self-motions. Computational kinematics Dual-quaternions Kinematic geometry Overconstrained mechanisms Stewart-Gough platform 3 A pentapod (hexapod) is called architecturally singular...

... can yield a tangibly larger workspace volume, when compared to those PKMs, while maintaining its high stiffness characteristics. Mechanism Spatial mechanisms Stewart platform Stewart-Gough platform PKMs have been commonly used in applications where a high level of accuracy is required...