2019-08-23T14:06:38Z
http://digital.csic.es/dspace-oai/request
oai:digital.csic.es:10261/96689
2019-06-11T10:32:15Z
com_10261_106
com_10261_4
col_10261_1241
The octahedral manipulator revisited
Rojas, Nicolás
Borràs, Julia
Thomas, Federico
Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012.
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 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.
2014-05-14T10:29:50Z
2014-05-14T10:29:50Z
2012
2014-05-14T10:29:50Z
Comunicación de congreso
IEEE International Conference on Robotics and Automation: 2293-2298 (2012)
http://hdl.handle.net/10261/96689
10.1109/ICRA.2012.6224908
eng
Postprint
http://dx.doi.org/10.1109/ICRA.2012.6224908
openAccess
Institute of Electrical and Electronics Engineers