Forward Kinematic Analysis of a Rotary Hexapod

Abstract

This study presents a solution of the forward position analysis for one-degree-of-freedom rotary hexapod. This mechanism includes six kinematic chains which orient an end-effector (platform) through the use of a single actuator. The forward position analysis is partially carried out by analytical and numerical methods using MATLAB package. The obtained solution has been demonstrated on three case-studies when the end-effector has exclusively rotational movement around the vertical axis, simultaneous rotational and linear movements also relative to the vertical axis and a full range of movements relative to each axis. The results of the analytical and numerical calculations have been validated by the findings obtained under the analysis of a virtual prototype of the rotary hexapod.