{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T03:35:22Z","timestamp":1777520122565,"version":"3.51.4"},"reference-count":17,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":5041,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Stewart platform configurations (architectures and poses) optimizing local dexterity are investigated. The condition number of the Jacobian matrix is used to quantify the dexterity of the manipulator. For a platform\u2010centered Jacobian reference location and a given characteristic length for scaling purposes, a two\u2010parameter family of optimal configurations is shown to exist. Two suitable architectural parameters defining the family are identified and properties of the optimal configurations are discussed. The optimization results are shown to be easily extended for other Jacobian reference locations and for other singular value\u2010based local dexterity measures. It is suggested that the existence of a two\u2010parameter family of optimal local configurations could be exploited to aid in the resolution of optimal architectures for global measures.<\/jats:p>","DOI":"10.1002\/rob.4620100405","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:40Z","timestamp":1183728520000},"page":"463-479","source":"Crossref","is-referenced-by-count":114,"title":["A family of stewart platforms with optimal dexterity"],"prefix":"10.1002","volume":"10","author":[{"given":"Kenneth H.","family":"Pittens","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ron P.","family":"Podhorodeski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"T.Yoshikawa \u201cAnalysis and control of robot manipulators with redundancy \u201d Proc. of the First International Symp. of Robotics Research Bretton Woods NH 1983."},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cManipulability and redundancy control of robotic mechanisms \u201d Proc. of the IEEE International Conf. on Robotics and Automation St. Louis MO 1985 pp.1004\u20131009.","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"e_1_2_1_6_2","unstructured":"J.AngelesandC. 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