Abstract
Hexapods are very common in astronomy as a mechanism to provide a stiff mount or a precision alignment tool. Here, we present a lumped model for a general symmetric hexapod that allows us to compute the load distribution under external forces, the hexapod’s resolution, and the identification of singularity loci within the workspace. We also developed a script to analyze this parametric model, which is publicly available. We use this model to develop and design a hexapod for mid-infrared ELT imager and spectrograph, one of the extremely large telescope’s first light instruments. The designed hexapod solution can survive strict earthquake conditions that can go up to 5g, and position and align the 11 ton instrument with submillimetric and arcsecond precisions. Although the model presented is not as precise or as realistic as a finite element (FE) analysis, it provides, in a fraction of a second, a very good first approximation. Therefore, unlike FE methods, the model is able to study many geometries in a short time.
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