Hexapod: The Platform with 6DOF

摘要

Hexapod is a platform with 6 degrees of freedom. This device can thus in a certain range to generate a general movement. Typically, we meet him at various simulators such as cabin aircraft, submarines, spacecraft, etc. (Fig. 1) (Letani and Letecke Zazitky 2013). Construction hexapod consists of six linear units, which mechanically connects the base and the platform. The general movement of the platform is defined by a combined expansion and plugging of linear units. For the correct simulation of the real movement of the cab is necessary to know the transformation required general motion of the linear motion units. This article deals with the mathematical description of the general transformation of the real motion into linear motion units hexapod and demonstration of use in the laboratory to laboratory hexapod.