Stewart platform

A hexapod ( Hexa Greek: Six, pod Greek: feet) is a spatial motion machine with six drive elements.

Configuration

A hexapod is a special form of parallel kinematics machine that has six legs of variable length. This construction allows a movement in all six degrees of freedom ( three translational and three rotational ). Due to the parallel arrangement of the drives Hexapode have compared with serial robots a better ratio of payload to tare weight.

History

Until a few years ago the opinion prevailed, the concept of the hexapod was first presented by D. Stewart in 1965. Hence the common name Stewart platform stirred. Another publication on the topic, however, is much older and dates by Eric Gough, which is why the hexapod is now referred to as Stewart / Gough platform. Eric Gough is said to have built the first hexapods already in the 1950s. Another name associated with the development of the hexapod is Klaus Cappel, who built his first hexapods in 1962.

Use

In various configurations Hexapode come regularly for special purposes are used:

• Aktuatorischer drive of driving and flight simulators
• Mount of telescopes, see Hexapod Telescope
• In robotics
• In medical technology, see Taylor Spatial Frame

Especially in motion simulations, high dynamics and statics of the simple hexapod is an ideal construction.

Use in a flight simulator

Two hexapod

Application research

Due to the special kinematics (parallel kinematics) the principle of construction of the hexapod is basically very attractive for use in robots, or special industrial robots and machine tools. Such systems are available from many manufacturers and in basic research for over 20 years. To date, however, finds no significant use instead in the production, which is traditionally dominated by machines with serial kinematics. As specific pros and cons must be weighed: