HEXA: a fast six-DOF fully-parallel robot

Abstract

The paper presents a new design for a six-degree-of-freedom (DOF) parallel structure dedicated to high-speed applications. The authors extend the principle of the DELTA mechanical structure in order to obtain orientations of the travelling plate. The approach which goes from the DELTA to the HEXA is first developed. Then a kinematic model of the HEXA is proposed. Finally a dynamic model of that robot is presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>