This paper summarizes a comparison study on a class of hexapods with fixed-length legs. The study is focused on investigation of the differences of the hexapods reported in the literature that slide in different directions including horizontal, vertical and slanted. A parameterized model is developed based on which investigation is carried out in terms of workspace and dexterity. Results of the comparison show that for the same geometric size, the slanted configuration may yield the greatest workspace, while the horizontal configuration may lead to the best dexterity. The workspace shapes of the three configurations are different, resulting in different moving ranges in x, y and z direction.
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