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The Octahedral Hexarot - a novel 6-DOF parallel manipulator

Isaksson, Mats, Brogardh, Torgny, Watson, Matthew, Nahavandi, Saeid and Crothers, Phillip 2012, The Octahedral Hexarot - a novel 6-DOF parallel manipulator, Mechanism and machine theory, vol. 55, pp. 91-102, doi: 10.1016/j.mechmachtheory.2012.05.003.

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Title The Octahedral Hexarot - a novel 6-DOF parallel manipulator
Author(s) Isaksson, Mats
Brogardh, Torgny
Watson, MatthewORCID iD for Watson, Matthew orcid.org/0000-0003-3556-4546
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Crothers, Phillip
Journal name Mechanism and machine theory
Volume number 55
Start page 91
End page 102
Total pages 12
Publisher Pergamon
Place of publication Oxford, England
Publication date 2012
ISSN 0094-114X
Keyword(s) parallel manipulator
PKM
rotation-symmetric
Stewart-Gough
workspace
Summary A novel 6-DOF parallel kinematic manipulator named the Octahedral Hexarot is presented and analyzed. It is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations. These features are obtained by combining a rotation-symmetric actuating arm system with links in an octahedral-like configuration. Thus the manipulator consists of a central cylindrical column with six actuated rotating upper arms that can rotate indefinitely around the central column. Each upper arm is connected to a manipulated platform by one 5-DOF lower arm link. The link arrangement of the Octahedral Hexarot is inspired by the original Gough platform. The manipulated platform is an equilateral triangle and the joint positions on the upper arms approximately form an equilateral triangle. A task dependent optimization procedure for the structural parameters is proposed and the workspace of the resulting manipulator is analyzed in depth.
Language eng
DOI 10.1016/j.mechmachtheory.2012.05.003
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2012, Elsevier
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30047092

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.