Digital twin development of hexafloat, a 6Dof PKM for hil tests

Abstract

This paper deals with the creation of a digital replication of an hexapod robot. To pursue this goal two software are used jointly to catch the dual nature of this mechatronic system. The mechanical aspects of the system are represented by ADAMS $$^{\tiny \textregistered }$$, while control logic loops behavior is handled by SIMULINK $$^{\tiny \textregistered }$$. In addition, actuators friction characterization is performed. This co-simulation apparatus opens to a number of possibilities such as preliminary tests of feasibility and off-line estimation of kinematic parameters without sensors, while widening the field of applications of the machine itself.