A Laboratory Unit

INVERTA-8 is an all-in-one table-top platform especially built for skill building of industrial users, students at academic institutes, and research labs. It includes a 6-RSS parallel platform HEXA-4 in inverted configuration and an inbuilt controller PC that can easily be programmed for pick-and-place operation. It comes with a fully-featured Graphical User Interface (GUI) that can be used to demonstrate motion in Cartesian workspace interactively through a wireless mouse, and keyboard, or a 6-DoF Joystick. All the runtime parameters like joint angles, end-effector position, homogeneous transformation matrix, etc. can be observed.

Tele Manipulation

It can demonstrate pre-programmed trajectory simulations like a spiral, Lissajous, helical, precession, and Simple Harmonic Motions of its end-effector. Also, it can demonstrate point-to-point motion using standard joint trajectories like cycloidal, quintic, cosine, and cubic. The plot for the joint velocities and accelerations is generated for any motion demonstrations. The end-effector tool position can be set to any point within the workspace which is widely used to demonstrate Tool Centre Point (TCP) Calibration algorithm working and is widely used in any industrial application.

Pick and Place Operation

The programming interface includes the Application Programmers Interface (API) which is built over Python language which is widely accepted as a programming language for robotics research. It comes with a Lab. Manual with almost 10 experiments and a wide range of example codes including Internet of Things (IoT) demonstrations.

With its open architecture, it can be extended for a wide range of research applications.

The top platform can be ordered with any customized shape to accommodate a different end-effectors tool depending on any unique application planned by the user. By default, the hardware can be selected among five different sizes of the first link.
 Technical Specifications



Type 6 DOF, Parallel Robot
Number of axis 6
Pose repeatability ±0.2 mm (ISO 9283)
Weight 25 kg
Cubical workspace 60mm × 60mm × 60mm
Maximum Displacements X ~ 160mm, Y ~ 160mm, Z ~ 160mm
Maximum Angular Displacements Roll ~ 43°, Pitch ~ 25°, Yaw ~ 65°
Payload 6 kg (at 12.0V)
Operating temperature -5°C to +80°C
Mounting position Floor, Ceiling (Inverted -Default), walls, floating
Size 500mm × 500mm × 750mm
Surface finish, paintwork Aluminium Extruded Channels and Acrylic covers
Robot: Stainless Steel
Material Robot Body: Stainless Steel,
Actuators: Engineering plastic body
Joint Level Accuracy 0.088°
Incremental Motion 1.0mm along each X, Y, Z direction
Maximum Velocity 0.5m/s
Maximum Joint Torque 6.0N.m (at 12V)
Maximum Joint Speed 378°/second
Force/Torque Control Torque control (upto 10 bit precision) at each joint allows end-effector force/torque control
Sound Level <50dB
Top Platform Modified for more agility and light weight. Provision for mounting sensors and gripper.


Operating Voltage 12.0V (Included)
Maximum Current 25A at Full load
Standby Current 600mA
Connecting Cable Single 3-Wire cable (Included)
Actuator Characteristics
  • Full metal gear
  • PID adjustable using seperate Actuator GUI
  • Contactless absolute encoder (12 bit for 360°)
  • Feedback: Position, Temperature
  • Position, Velocity or Torque Control
Power Supply 110/220 V


Supported platforms PC with Mac or Linux (Ubuntu, Debian, Raspberry Pi, or other distributions.) GUI Supported on Windows 10/11 (License Included)
Programming Compatibility MATLAB, Python (Codes Included with the supply), Java, C/C++, C#, LabView, ROS.
Communication USB to TTL (Daisychain - Half duplex Asynchronous Serial Communication)
API Compatibility Python, ROS
Included GUI Features
  • Cartesian Jogging for Position and Orientation
  • PTP Motion using Cycloidal, Cubic, Quintic, and Cosine trajectories
  • Controllers: Virtual using mouse, Android App or 3D Joystick
  • Programmed motions: Planar/Vertical SHM, Spiral, Lissajous, Helical, Precession
  • Live plot for joint angles for any cartesian motion, end-effector homogeneous transformation matrix, error logs
  • Mouse interactive 3D visualization and standard views buttons
  • Trace feature for end-effector motion visualization
  • Inbuilt safety feature for singularity check and joint angle limits


  • 1 No. all rotary parallel Stewart platform with actuators within the enclosure cell.
  • USB to TTL converter for communication (Inbuilt).
  • Emergency stop and Power Switch (Inbuilt).
  • 3 core, 5m, submersible cable.
  • USB Drive with Software, API, Assembly Instructions, User Documentation, Android Application, Videos and Example codes.
  • Full customization in terms of hardware and software may be provided (chargeable extra).
  • Lab. Manuals for teaching.
  • 3D Joystick for Programming and Demonstration


  • As a laboratory apparatus or in classroom for demonstrating parallel robot.
  • Positioners: for cameras, solar plates, mirrors, surgical instruments, etc.
  • Low frequency vibration compensators or dynamic balancing (needs appropriate sensors).
  • Motion platform: e.g. simulators, gaming stations, medical applications, test workbench, etc.
  • Torque controlled joints allows it to be used as a haptic feedback device or as an assembly robot.

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