In most practical implementations of the Gough- Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the Gough-Stewart platform, commonly known as the octahedral manipulator, has been thoughtfully studied . It is well-known, for example, that its forward kinematics can be solved by computing the roots of an octic polynomial and its singularities have a simple geometric interpretation in te rms of the intersection of four planes in a single point. In this paper, using a distance-based formulation, it is shown how t hese properties can be derived without relying neither on variab le eliminations nor trigonometric substitutions. Moreover, thanks to this formulation, a family of platforms kinematically eq uiv- alent to the octahedral manipulator is obtained. Herein, tw o Gough-Stewart parallel platforms are said to be kinematica lly equivalent if there is a one-to-one correspondence between their squared leg lengths for the same configuration of their moving platforms with respect to their bases. If this condit ion is satisfied, it can be shown that both platforms have the same assembly modes and their singularities, in the configuratio n space of the moving platform, are located in the same place. ; Peer Reviewed ; Postprint (author’s final draft)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    The octahedral manipulator revisited

    Rojas, Nicolás / Borràs, Julia / Thomas, Federico | BASE | 2012

    Freier Zugriff

    A Distance-Based Formulation of the Octahedral Manipulator Kinematics

    Rojas, Nicolás / Borràs, Julia / Thomas, Federico | BASE | 2010

    Freier Zugriff


    A distance-based formulation of the octahedral manipulator kinematics

    Rojas Libreros, Nicolás Enrique / Borràs Sol, Júlia / Thomas, Federico | BASE | 2010

    Freier Zugriff

    The Kinematics of the Double-Octahedral Parallel Manipulator and its Equivalent Serial Mechanism

    Zanganeh, K. E. / Angeles, J. / Canadian Society for Mechanical Engineering | British Library Conference Proceedings | 1998