{"id":"https://openalex.org/W1974730120","doi":"https://doi.org/10.1115/1.2919188","title":"The Stewart Platform of General Geometry Has 40 Configurations","display_name":"The Stewart Platform of General Geometry Has 40 Configurations","publication_year":1993,"publication_date":"1993-06-01","ids":{"openalex":"https://openalex.org/W1974730120","doi":"https://doi.org/10.1115/1.2919188","mag":"1974730120"},"language":"en","primary_location":{"id":"doi:10.1115/1.2919188","doi":"https://doi.org/10.1115/1.2919188","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.2919188","pdf_url":null,"source":{"id":"https://openalex.org/S88457320","display_name":"Journal of Mechanical Design","issn_l":"0161-8458","issn":["0161-8458","1050-0472","1528-9001"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-1","poland-100","russia-white-list-1"],"host_organization":"https://openalex.org/P4310321320","host_organization_name":"American Society of Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310321320"],"host_organization_lineage_names":["American Society of Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Mechanical Design","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070441210","display_name":"Madhu Raghavan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M. Raghavan","raw_affiliation_strings":["Power Systems Research Department, General Motors Research Laboratories, 30500 Mound Road, Warren, MI 48090\u20139055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Power Systems Research Department, General Motors Research Laboratories, 30500 Mound Road, Warren, MI 48090\u20139055","institution_ids":["https://openalex.org/I118136607"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5070441210"],"corresponding_institution_ids":["https://openalex.org/I118136607"],"apc_list":null,"apc_paid":null,"fwci":13.5989,"has_fulltext":false,"cited_by_count":315,"citation_normalized_percentile":{"value":0.98842244,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"115","issue":"2","first_page":"277","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11435","display_name":"Polynomial and algebraic computation","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.9990000128746033},{"id":"https://openalex.org/keywords/parallel-mechanism","display_name":"parallel mechanism","score":0.47999998927116394},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"forward kinematics","score":0.9359999895095825},{"id":"https://openalex.org/keywords/number-of-solutions","display_name":"number of solutions","score":0.609000027179718},{"id":"https://openalex.org/keywords/general-geometry","display_name":"general geometry","score":0.4659999907016754},{"id":"https://openalex.org/keywords/multivariate-polynomial-systems","display_name":"multivariate polynomial systems","score":0.5199999809265137}],"concepts":[{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.7635605335235596},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.6937299370765686},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6308097243309021},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.5295665860176086},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.47105929255485535},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4655004143714905},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4639880657196045},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45487651228904724},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.4281274080276489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40196770429611206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3888917863368988},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2967260777950287},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2355891466140747},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2337639033794403},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17837941646575928},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.14147219061851501},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09624055027961731},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/1.2919188","doi":"https://doi.org/10.1115/1.2919188","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.2919188","pdf_url":null,"source":{"id":"https://openalex.org/S88457320","display_name":"Journal of Mechanical Design","issn_l":"0161-8458","issn":["0161-8458","1050-0472","1528-9001"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-1","poland-100","russia-white-list-1"],"host_organization":"https://openalex.org/P4310321320","host_organization_name":"American Society of Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310321320"],"host_organization_lineage_names":["American Society of Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Mechanical Design","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2253758868","https://openalex.org/W2101052787","https://openalex.org/W2094003385","https://openalex.org/W2159563485","https://openalex.org/W1914776899","https://openalex.org/W2091447333","https://openalex.org/W7098028781","https://openalex.org/W2012975111","https://openalex.org/W2155760094","https://openalex.org/W3152118611"],"abstract_inverted_index":{"The":[0,66],"Stewart":[1,72,131],"platform":[2,73],"is":[3,9],"a":[4,36,39,54,108,120],"six-degree-of-freedom,":[5],"in-parallel":[6],"linkage.":[7],"It":[8,33],"used":[10],"in":[11,138],"automotive":[12],"and":[13,20,23,42,63,95],"flight":[14],"simulators,":[15],"positioning":[16],"tables":[17],"for":[18,70,130],"assembly":[19],"robotic":[21],"applications,":[22],"various":[24],"other":[25],"applications":[26],"requiring":[27],"linkages":[28],"with":[29,57],"high":[30],"structural":[31],"stiffness.":[32],"consists":[34,52],"of":[35,53,82,97,110,133],"base":[37,62],"link,":[38,41],"coupler":[40,48,99],"six":[43,84],"adjustable-length":[44],"legs":[45],"supporting":[46],"the":[47,61,71,80,83,90,93,98,140],"link.":[49,100],"Each":[50],"leg":[51],"prismatic":[55,85],"joint":[56,86],"ball-joint":[58],"connections":[59],"to":[60,89],"coupler,":[64],"respectively.":[65],"forward":[67],"kinematics":[68],"problem":[69,102,118,148],"may":[74,103],"be":[75,104],"stated":[76],"as":[77,107,124],"follows:":[78],"given":[79],"values":[81],"displacement":[87],"inputs":[88],"linkage,":[91],"compute":[92],"position":[94],"orientation":[96],"This":[101],"set":[105],"up":[106],"system":[109],"nonlinear":[111],"multivariate":[112],"polynomial":[113,125],"equations.":[114],"We":[115,127],"solve":[116],"this":[117,147],"using":[119],"numerical":[121],"technique":[122],"known":[123],"continuation.":[126],"show":[128],"that":[129],"platforms":[132,137],"general":[134],"geometry":[135],"(i.e.,":[136],"which":[139],"linkage":[141],"parameters":[142],"are":[143],"arbitrary":[144],"complex":[145],"numbers)":[146],"has":[149],"40":[150],"distinct":[151],"solutions.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":14}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
