{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:02Z","timestamp":1754157362112,"version":"3.41.2"},"reference-count":22,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2010,1,12]],"date-time":"2010-01-12T00:00:00Z","timestamp":1263254400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010,1,12]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to propose two simple tools for the kinematic characterization of hexapods. The paper also aims to share the experience of converting a popular commercial motion base (Stewart\u2010Gough platform, hexapod) to an industrial robot for use in heavy duty aerospace manufacturing processes.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The complete workspace of a hexapod is a six\u2010dimensional entity that is impossible to visualize. Thus, nearly all hexapod manufacturers simply state the extrema of each of the six dimensions, which is very misleading. As a compromise, a special 3D subset of the complete workspace is proposed, an approximation of which can be readily obtained using a computer\u2010aided design (CAD)\/computer\u2010aided manufacturing (CAM) software suite, such as computer\u2010aided 3D interactive application (CATIA). While calibration techniques for serial robots are readily available, there is still no generally agreed procedure for calibrating hexapods. The paper proposes a simple calibration method that relies on the use of a laser tracker and requires no programming at all. Instead, the design parameters of the hexapod are directly and individually measured and the few computations involved are performed in a CAD\/CAM software such as CATIA.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The conventional octahedral hexapod design has a very limited workspace, though free of singularities. There are important deviations between the actual and the specified kinematic model in a commercial motion base.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>A commercial motion base can be used as a precision positioning device with its controller retrofitted with state\u2010of\u2010the\u2010art motion control technology with accurate workspace and geometric characteristics.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>A novel geometric approach for obtaining meaningful measures of the workspace is proposed. A novel, systematic procedure for the calibration of a hexapod is outlined. Finally, experimental results are presented and discussed.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011009984","type":"journal-article","created":{"date-parts":[[2010,1,8]],"date-time":"2010-01-08T08:04:37Z","timestamp":1262937877000},"page":"79-88","source":"Crossref","is-referenced-by-count":13,"title":["Kinematic characterisation of hexapods for industry"],"prefix":"10.1108","volume":"37","author":[{"given":"Julien","family":"Blaise","sequence":"first","affiliation":[]},{"given":"Ilian","family":"Bonev","sequence":"additional","affiliation":[]},{"given":"Bruno","family":"Monsarrat","sequence":"additional","affiliation":[]},{"given":"S\u00e9bastien","family":"Briot","sequence":"additional","affiliation":[]},{"given":"Jason","family":"Michel Lambert","sequence":"additional","affiliation":[]},{"given":"Claude","family":"Perron","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012220125490500_b1","doi-asserted-by":"crossref","unstructured":"Andreff, N., Renaud, P., Martinet, P. and Pierrot, F. 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