English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/96689
Share/Impact:
Statistics
logo share SHARE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:
Title

The octahedral manipulator revisited

AuthorsRojas, Nicolás ; Borràs, Julia ; Thomas, Federico
Issue Date2012
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Robotics and Automation: 2293-2298 (2012)
AbstractIn 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.
DescriptionTrabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012.
Publisher version (URL)http://dx.doi.org/10.1109/ICRA.2012.6224908
URIhttp://hdl.handle.net/10261/96689
DOI10.1109/ICRA.2012.6224908
Identifiersdoi: 10.1109/ICRA.2012.6224908
isbn: 978-1-4673-1403-9
Appears in Collections:(IRII) Libros y partes de libros
Files in This Item:
File Description SizeFormat 
octahedral manipulator.pdf478,73 kBUnknownView/Open
Show full item record
Review this work
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.