A Stewart platform in its most general form is a parallel manipulator with six linear actuators connected to the base and the end-effector with spherical joints. We introduce the concept of massively parallel binary system (MPBS), realised by increasing the number of legs beyond six to a very large number and constraining the actuators to be in one of two states, retracted or extended. Dynamic equations for such systems have been established. Based on simulation, behavior and design issues of such systems have been discussed. Some bounds for load limits and frequency response for such systems have been determined.
Massively Parallel Binary Manipulators
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Nov. 1999. Associate Editor: G. S. Chirikjian.
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Mukherjee, S., and Murlidhar, S. (November 1, 1999). "Massively Parallel Binary Manipulators ." ASME. J. Mech. Des. March 2001; 123(1): 68–73. https://doi.org/10.1115/1.1339198
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