Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System

摘要

The aim of this study was to assess the functionality of a compact robotic system with hybrid kinematic structure, consisting in two hexapods serially connected and controlled in such a way that they have identical configurations any time, in terms of accuracy and maneuverability. By the aid of the a demonstration model it was intended to prove that the system substantially benefits of the precision and robustness of the parallel structures and simultaneously is capable to generate complex motions in a significant extended workspace compared with a single hexapod. The double hexapod system answers the actual need of accurate, complex and robust positioning systems used in new technologies and possibly in robotic surgery.