Hexapod (Stewart Platform)

[johan_tr]

Hi all,

Can anybody share the ebooks or link that related to the hexapod (Stewart platform) Machine (robot). The other parallel Kinematic Machine is also welcome.
I am interested with the mechanical design, the kinematics (Inverse kinematics), and the control.

Thx + Rgds

Tr2000

 

[falleafd]

I didn't work on hexapod, but one of my friend worked on it. However, he didn't write his thesis in English but Vietnamese.

But here is a link to download some useful PhD thesis on many fields. You may pay a visit to this to find the suitable documents.

**broken link removed**

I don't remember if there is any thesis on hexapod, but it's valuable to skim around.

Hexapod give a difficult kinetics, but if you understand clearly about DH matrix, you can solve it. We usually use hydraulic suppliers to control the hexapod.

Goodluck.

 

[johan_tr]

Hi Falleafd,

Thx for the info.
Does anybody have a link to the hexapod mechanical design, kinematics analysis, Interpolation, Controled system, etc and willing to share?

Rgds

TR2000