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Solution of the Inverse Kinematic Problem for a Hexapod with a Circular Guide

  • MECHANICS OF MACHINES
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Abstract

In this paper, we present a solution of the inverse kinematic problem for a one-degree-of-freedom hexapod with a circular guide. The problem was solved applying analytical and numerical calculation methods using MATLAB package. The given algorithm for solving the inverse problem also allows studying the six-degree-of-freedom hexapod. The paper presents assembling computational models (virtual prototypes) of one- and six-degree-of-freedom hexapods with a circular guide.

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Funding

This study was supported by the Russian President Grant, project no. MK-2781.2019.8.

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Authors and Affiliations

  1. Mechanical Engineering Research Institute of the Russian Academy of Sciences, 101000, Moscow, Russia

    A. S. Fomin, A. V. Antonov, D. V. Petelin & P. A. Shvets

Authors
  1. A. S. Fomin
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  2. A. V. Antonov
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  3. D. V. Petelin
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  4. P. A. Shvets
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Corresponding author

Correspondence to A. S. Fomin.

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The authors declare that they have no conflict of interest.

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Translated by A. Ivanov

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Fomin, A.S., Antonov, A.V., Petelin, D.V. et al. Solution of the Inverse Kinematic Problem for a Hexapod with a Circular Guide. J. Mach. Manuf. Reliab. 50, 191–199 (2021). https://doi.org/10.3103/S1052618821020035

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  • DOI: https://doi.org/10.3103/S1052618821020035

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