Calculation of Drive Mechanism for Novel Rotary Hexapod with Single Motor

Abstract

The study presents a calculation of drive mechanism of novel rotary hexapod with single motor. The proposed hexapod consists of drive mechanism serving as a movable base which supports six legs with an end-effector (platform). The peculiarity of this hexapod is that the movement of the platform is under full control of a single motor placed in the center of the circular guide. The planar drive mechanism has been calculated for the development of a physical prototype of the rotary hexapod. The calculations found the required type of a motor, dimensions and strength characteristics of gear wheels and belt transmissions included in each of the six kinematic chains of the rotary hexapod in respect to the loads during force and motion transfer from the driving link. The proposed mechanism can be used for a spatial orientation of objects, as well as for performing cyclic operations that require motions along given trajectories. The proposed mechanism can be used in the creation of rehabilitation medical equipment, as well as in the development of various types of mobile platforms.