Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system

Tanev, T. K. and Rooney, J. (2002). Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system. In: Lenarčič, J. and Thomas, F. eds. Advances in Robot Kinematics. Dordrecht, Netherlands.: Springer, Dordrecht, pp. 29–38.

DOI: https://doi.org/10.1007/978-94-017-0657-5_4

Abstract

The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs. The symmetry of the system is exploited to determine the behaviour of (a new version of) the quality index for various motions. The main results are presented graphically.

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