{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T15:45:12Z","timestamp":1758815112770,"version":"3.38.0"},"reference-count":30,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[1998,8,1]],"date-time":"1998-08-01T00:00:00Z","timestamp":901929600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,8]]},"abstract":"<jats:p> In most of the practical six-actuator, in-parallel manipulators, the octahedral form is either taken as it stands or is approximated. Yet considerable theoretical attention is paid in the literature to more general forms. <\/jats:p><jats:p> Here we touch on the general form, and describe some aspects of its behavior that vitiate strongly against its adoption as a pattern for a realistic manipulator. We reach the conclusion that the structure for in-parallel manipulators must be triangulated as fully as possible, so leading to the octahedral form. <\/jats:p><jats:p> In describing some of the geometrical properties of the general octahedron, we show how they apply to manipulators. We examine in detail the special configurations at which the 6 x 6 matrix of leg lines is singular, presenting results from the point of view of geometry in preference to analysis. In extending and enlarging on some known properties, a few behavioral surprises materialize. <\/jats:p><jats:p> In studying special configurations, we start with the most general situation, and every other case derives from this. Our coverage is more comprehensive than any that we have found. <\/jats:p><jats:p> We bring to light material that is, we think, of significant use to a designer. <\/jats:p>","DOI":"10.1177\/027836499801700805","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"868-885","source":"Crossref","is-referenced-by-count":32,"title":["The Octahedral Manipulator: Geometry and Mobility"],"prefix":"10.1177","volume":"17","author":[{"given":"K.H.","family":"Hunt","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Monash University, Clayton Victoria 3168 Australia, Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Victoria 3052 Australia"}]},{"given":"P.R.","family":"McAree","sequence":"additional","affiliation":[{"name":"Department of Engineering Science The University of Oxford Oxford, OX1-3PJ, UK"}]}],"member":"179","published-online":{"date-parts":[[1998,8,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100509"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(80)90021-X"},{"volume-title":"The Theory of Screws","year":"1900","author":"Ball, R.S.","key":"atypb3"},{"key":"atypb4","first-page":"309","volume":"10","author":"Bennett, G.T.","year":"1911","journal-title":"Proc. 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