ICRA 2012 Paper Abstract


Paper WeB01.1

Rojas, Nicolas (IRI (CSIC-UPC)), Borrąs Sol, Jślia (Yale University), Thomas, Federico (CSIC-UPC)

The Octahedral Manipulator Revisited

Scheduled for presentation during the Regular Session "Parallel Robots" (WeB01), Wednesday, May 16, 2012, 10:30−10:45, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Parallel Robots, Kinematics, Mechanism Design of Manipulators


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.



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