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)
The octahedral manipulator revisited
2012-01-01
Sonstige
Elektronische Ressource
Englisch
Àrees temàtiques de la UPC::Informàtica::Robòtica , Robots -- Dynamics , robot kinematics PARAULES AUTOR: octahedral manipulator , position analysis , forward kinematics , distance-based formulations , Cayley-Menger determinants , Robots -- Dinàmica , Classificació INSPEC::Automation::Robots::Robot kinematics
DDC: | 629 |
The Octahedral Hexarot — A novel 6-DOF parallel manipulator
Online Contents | 2012
|The Kinematics of the Double-Octahedral Parallel Manipulator and its Equivalent Serial Mechanism
British Library Conference Proceedings | 1998
|