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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Tanev, T.K., Rooney, J. (2002). Rotation Symmetry Axes and the Quality Index in a 3D Octahedral Parallel Robot Manipulator System. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_4
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DOI: https://doi.org/10.1007/978-94-017-0657-5_4
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
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