The octahedral manipulator: Geometry and mobility

Hunt, KH and McAree, PR (1998) The octahedral manipulator: Geometry and mobility. International Journal of Robotics Research, 17 8: 868-885. doi:10.1177/027836499801700805

Author Hunt, KH
McAree, PR
Title The octahedral manipulator: Geometry and mobility
Journal name International Journal of Robotics Research   Check publisher's open access policy
ISSN 0278-3649
Publication date 1998-01-01
Sub-type Article (original research)
DOI 10.1177/027836499801700805
Open Access Status DOI
Volume 17
Issue 8
Start page 868
End page 885
Total pages 18
Language eng
Abstract In most Of the practical six-actuator in-parallel manipulators, the octahedral form is either taken as it stands or is approximated. Yet considerable theoretical attention is paid in the literature to more general forms. Here we touch on the general form, and describe some aspects of its behavior that vitiate strongly against its adoption as a pattern for a realistic manipulate,: We reach the conclusion that the structure for in-parallel manipulators must be triangulated as fully as possible, so leading to the octahedral form. In describing some of the geometrical properties of the general octahedron, we show how they apply to manipulators. We examine in detail the special configurations at which the 6 x 6 matrix of leg lines is singular presenting results from the point of view of geometry in preference to analysis. In extending and enlarging on some known properties, a few behavioral surprises materialize. In studying special configurations, we start with the most general situation, and every other case derives from this. Our coverage is more comprehensive than any that we have found. We bring to light material that is, we think, of significant use to a designer.
Keyword Robotics
Parallel Manipulators
Stewart Platform
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Journal Article
Sub-type: Article (original research)
Collection: School of Mechanical & Mining Engineering Publications
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Citation counts: TR Web of Science Citation Count  Cited 32 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 37 times in Scopus Article | Citations
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Created: Mon, 13 Aug 2007, 20:33:23 EST