Abstract
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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
