Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition-Reference-Cited by-同舟云学术

Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition

Published:2002-02 Issue:2 Volume:21 Page:147-159
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Downing D.M.¹,Samuel A.E.²,Hunt K.H.²

Affiliation:

1. Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia,

2. Robot Kinematics Group Dept. Mechanical and Manufacturing Engineering University of Melbourne, 3010 Victoria, Australia

Abstract

This paper presents a technique, known as the Pure Condition, which has found use in analysing the rigidity of truss-like structures. The analysis is applied to the Stewart Platform where it can be used to identify special configurations. The conditions that produce special configurations in the octahedral manipulator are compared to previously known conditions and the associated geometry is seen to be more revealing with this method than was the case previously. The results lead to a simple and clear method for identifying special configurations in the octahedral manipulator and other specializations of the Stewart Platform.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836402760475351

Reference18 articles.

1. Automatic Proving of Geometric Theorems

2. The Octahedral Manipulator: Geometry and Mobility

Cited by 40 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. New Bracket Polynomials Associated with the General Gough-Stewart Parallel Robot Singularities;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

2. Rigidity through a Projective Lens;Applied Sciences;2021-12-15

3. The kinematics and design for quasi-isotropy of 3U serial manipulators with reduced wrists;Mechanism and Machine Theory;2020-12

4. A novel criterion for singularity analysis of parallel mechanisms;Mechanism and Machine Theory;2019-07

5. A Complete Geometric Singular Characterization of the 6/6 Stewart Platform;Journal of Mechanisms and Robotics;2018-06-01