Toward Kinematic Analysis of Rotary Hexapod with Single Drive
The study provides a solution of kinematic analysis for novel rotary hexapod with single drive. The discussed hexapod is a parallel structure mechanism that is designed as a planar movable base with central drive and a spatial kinematic chain with six legs coupling with end-effector (platform). The hexapod allows reproducing diverse spatial trajectories by changing only single link, crank, in each kinematic chain. Direct kinematic analysis has been carried out with positions indication of the end-effector in space based on hexapod’s links orientation. Study provides numerical values of end-effector’s coordinates de-pending on a rotation angle of driving link. Three cases have been discussed: when cranks in movable base have minimal, intermediate and maximal lengths. The practical application of the proposed hexapod can be associated with systems for spatial orientation of diverse objects, car or airplane simulators and re-habilitation devices where cyclic motions of end-effectors are required.
KeywordsMechanism Kinematic Pair Rotary Hexapod Degree-of-freedom Direct Kinematics
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