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Dynamic balancing of hexapods for high-speed applications

Published online by Cambridge University Press:  01 May 1999

F. Xi
F. Xi
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council Canada, London, Ontario, N6G 4X8 (Canada). E-mail: jeff.xi@nrc.ca
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Abstract

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In this paper, a method is proposed for dynamic balancing of hexapods for high-speed applications. The kinematic structure of the hexapod is based on the parallel mechanism. For high-speed applications, hexapod dynamics is the dominant factor, and dynamic balancing becomes very important. The proposed method is aimed at minimizing the changes in the hexapod inertia over the workspace by utilizing the tool holder attached to the hexapod's end-effector as a counterweight.

Keywords

HexapodsDynamic balancingHigh-speed applicationsTool holder
Type
Research Article
Information
Robotica , Volume 17 , Issue 3 , May 1999 , pp. 335 - 342
Copyright
© 1999 Cambridge University Press