Dynamics of the hexapod parallel robot

Abstract

Recursive matrix relations in kinematics and dynamics of the Hexapod parallel robot are established in this paper. Controlled by six forces, the parallel manipulator prototype is a space six-degrees-of-freedom mechanical system with six fixed-length legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator’s body. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix relations and graphs of simulation for the input forces and powers are obtained.