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

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
Main Authors: Alexey Fomin, Anton Antonov, Victor Glazunov
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Robotics
Subjects:
reconfigurable parallel mechanism (RPM)
hexapod
inverse kinematics
reconfiguration algorithm
circular guide
MATLAB modeling
Online Access:https://www.mdpi.com/2218-6581/11/1/8

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