Development of a Novel Rotary Hexapod with Single Drive

Abstract

The proposed research presents a novel kinematic design of rotary hexapod actuated by single drive. The developed mechanism has been designed as a combination of spatial kinematic chain 6SS and planar gear lever linkage set inside of a circular guide and serves as a movable base for hexapod’s legs. The planar mechanism includes six kinematic chains ending with carriages that set under each leg of spatial 6SS chain. Motions of the hexapod’s platform are predefined and controlled by single rotational drive set in the center of a circular guide that is mounted on a fixed link. Novel design of the proposed rotary hexapod allows changing trajectories of its platform by variation of only one link length in each kinematic chain of the movable base. The hexapod can be used as a system for spatial orientation of various objects, applied in car or airplane simulators as well as in rehabilitation equipment that requires cyclic movements of an end-effector.