Abstract
The study presents a calculation of drive mechanism of novel rotary hexapod with single motor. The proposed hexapod consists of drive mechanism serving as a movable base which supports six legs with an end-effector (platform). The peculiarity of this hexapod is that the movement of the platform is under full control of a single motor placed in the center of the circular guide. The planar drive mechanism has been calculated for the development of a physical prototype of the rotary hexapod. The calculations found the required type of a motor, dimensions and strength characteristics of gear wheels and belt transmissions included in each of the six kinematic chains of the rotary hexapod in respect to the loads during force and motion transfer from the driving link. The proposed mechanism can be used for a spatial orientation of objects, as well as for performing cyclic operations that require motions along given trajectories. The proposed mechanism can be used in the creation of rehabilitation medical equipment, as well as in the development of various types of mobile platforms.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Carricato, M., Parenti-Castelli, V.: A family of 3-DOF translational parallel manipulators. J. Mech. Des. 125(2), 302–307 (2014)
Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Springer Science & Business Media, Netherland (2004)
Kong, X., Gosselin, C.M.: Type Synthesis of Parallel Mechanisms. Springer, Heidelberg (2007)
Kheylo, S.V., Glazunov, V.A., Shirinkin, M.A., Kalendaryov, A.V.: Possible applications of mechanisms of parallel structure. J. Mach. Manuf. Reliab. 5, 19–24 (2013)
Arakelyan, V. Geng, J. Fomin, A.S.: Minimization of the inertial loads of planar parallel structure manipulators through optimal control. J. Mach. Manuf. Reliab., 1–9 (2018)
Yau, C.L.: (Hexel Corporation, US): Systems and methods employing a rotary track for machining and manufacturing. US Patent No. 6196081 (2001)
Coulombe, J., Bonev, I.A.: A new rotary hexapod for micropositioning. In: Proceedings of the International Conference on Robotics and Automation, pp. 877–880. IEEE, Karlsruhe (2013)
Shchokin, B., Janabi-Sharifi, F.: Design and kinematic analysis of a rotary positioner. Robotica 25, 75–85 (2007)
Fomin, A., Glazunov, V., Terekhova, A.: Development of a novel rotary hexapod with single drive. In: Arakelian, V., Wenger, P. (eds.) ROMANSY 22—Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol. 584, pp. 141–146. Springer, Cham (2019)
Fomin, A. Glazunov, V.: A novel rotary positioner with single drive: structural analysis and kinematic design. In: Lenarcic, J., Parenti-Castelli, V. (eds.) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol. 8, pp. 364–371. Springer, Cham (2019)
GOST 8338-75. Radial single-row ball bearings. Basic dimensions (with a change in No. 1)
Acknowledgements
The reported study was funded by Russian Ministry of Science and Higher Education according to the research project No. 9.12794.2018/12.2.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Fomin, A., Petelin, D., Glazunov, V. (2020). Calculation of Drive Mechanism for Novel Rotary Hexapod with Single Motor. In: Zawiślak, S., Rysiński, J. (eds) Engineer of the XXI Century. EngineerXXI 2018. Mechanisms and Machine Science, vol 70. Springer, Cham. https://doi.org/10.1007/978-3-030-13321-4_2
Download citation
DOI: https://doi.org/10.1007/978-3-030-13321-4_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-13320-7
Online ISBN: 978-3-030-13321-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)