{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T00:32:36Z","timestamp":1770683556248,"version":"3.49.0"},"reference-count":17,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6311,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A closed\u2010form forward displacement analysis is performed for a Stewart Platform\u2010type of parallel mechanism, whose six legs meet in a pair\u2010wise fashion at three points in the top and base platforms. The six legs and two platforms of this mechanism together form an octahedron. An eighth\u2010degree polynomial in the square of the tan\u2010half\u2010angle that measures the elevation of a triangular face of the octahedron relative to the base triangle is derived. Each of three vertices of the base triangle of the octahedron is modeled by a spherical four\u2010bar mechanism, and the polynomial is obtained by eliminating a pair of tan\u2010half\u2010angular displacements from the displacement equations of the three spherical four\u2010bar mechanisms. The result are verified numerically by performing a reverse displacement analysis and displaying real solutions on a graphic system. It is clear that there are a maximum of eight reflected pairs of real assembly configurations of the octahedral form of the Stewart Platform.<\/jats:p>","DOI":"10.1002\/rob.4620060604","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:33:59Z","timestamp":1183714439000},"page":"703-720","source":"Crossref","is-referenced-by-count":183,"title":["A forward displacement analysis of a class of stewart platforms"],"prefix":"10.1002","volume":"6","author":[{"given":"M.","family":"Griffis","sequence":"first","affiliation":[]},{"given":"J.","family":"Duffy","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"371","volume-title":"A platform with six degrees of freedom","author":"Stewart D.","year":"1965"},{"key":"e_1_2_1_3_2","volume-title":"Kinematic Geometry of Mechanisms","author":"Hunt K. 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