An inverse kinematics approach to hexapod design and control

Frank A. DeWitt IV

doi:10.1117/12.826696

10 September 2009 An inverse kinematics approach to hexapod design and control

Frank A. DeWitt IV

Proceedings Volume 7424, Advances in Optomechanics; 74240O (2009) https://doi.org/10.1117/12.826696
Event: SPIE Optical Engineering + Applications, 2009, San Diego, California, United States

Abstract

Hexapod platforms have found use in high-end systems when precision positioning and multiple degrees of freedom are required. Hexapods make use of parallel kinematics to achieve these high levels of precision and accuracy and can often outperform traditional methods. Traditional methods generally involve serial kinematics in the form of stacked translation and rotation stages. They have the advantage of being conceptually simple and straightforward to implement, but often suffer from decreased stability. Despite the advantages of stability and the freedom of motion hexapods offer, hexapods are often avoided because of their non-intuitive nature. Inverse kinematics can be used to determine the interaction between the motions of the individual linear actuators and the motion of the mobile platform of a hexapod. We endeavor to present a straightforward approach to understanding hexapod movements and provide insight into the advantages and limitations of hexapod platforms. This paper presents concepts that can be utilized by the designer or user to determine fundamentals such as resolution, motion limits, actuator loading, and stiffness of a given hexapod design.

Citation Download Citation

Frank A. DeWitt IV "An inverse kinematics approach to hexapod design and control", Proc. SPIE 7424, Advances in Optomechanics, 74240O (10 September 2009); https://doi.org/10.1117/12.826696

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