A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism

This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between...

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Bibliographic Details
Published in:Robotics (Basel) Vol. 11; no. 1; p. 8
Main Authors: Fomin, Alexey, Antonov, Anton, Glazunov, Victor
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.02.2022
Subjects:
Actuators
Algorithms
circular guide
hexapod
inverse kinematics
Kinematics
Mathematical analysis
MATLAB modeling
reconfigurable parallel mechanism (RPM)
Reconfiguration
reconfiguration algorithm
Virtual prototyping
ISSN:2218-6581, 2218-6581
Online Access:Get full text
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Summary:This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm.
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ISSN:2218-6581
2218-6581
DOI:10.3390/robotics11010008