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The octahedral manipulator revisited
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posted on 2023-06-09, 00:28 authored by Nicolás Rojas, Júlia Borràs, Federico ThomasIn most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular 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 terms of the intersection of four planes in a single point. In this paper, using a distance-based formulation, it is shown how these properties can be derived without relying neither on variable eliminations nor trigonometric substitutions. Moreover, thanks to this formulation, a family of platforms kinematically equivalent to the octahedral manipulator is obtained. Herein, two Gough-Stewart parallel platforms are said to be kinematically 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 condition is satisfied, it can be shown that both platforms have the same assembly modes and their singularities, in the configuration space of the moving platform, are located in the same place.
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Publication status
- Published
External DOI
Page range
2293-2298Presentation Type
- paper
Event name
2012 IEEE International Conference on Robotics and Automation (ICRA)Event location
Saint Paul, MNEvent type
conferenceEvent date
14-18 May 2012Book title
2012 IEEE International Conference on Robotics and AutomationDepartment affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2016-03-07Usage metrics
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