Visa källkod för Hexapods: Steward Gough Tools, Bugs and Programs

The definition of hexapod is derived from the Greek term for six-legs and has adapted a number of different meanings.[http://billstermiteco.com/termite-control-mesa-az  termite control mesa az] & Walking RobotsIn the pet kingdom, hexapod explains insects and some other related little six-legged groups.In the technical design world, hexapod again has two different meanings. You will find hexapod positioning platforms and hexapod walking programs, modeled after the way insects move.Stewart Gough PlatformsHexapod positioning platforms (also categorised as Stewart platform or Stewart Gough platform) have experienced an important impact on evolving several sectors. These setting programs are called parallel kinematic products or primary kinematic robots since all actuators directly operate on one platform in parallel. Currently there are numerous different hexapod system patterns, however the first one was developed by Eric Gough, an engineer involved with automotive tire screening. He produced the high-load hexapod 6-axis positioning platform to use loads to his tires in all 6 quantities of flexibility i.e. the 3 linear movements (XYZ) and the 3 rotations, around X, Y and Z (also referred to as frequency, roll and yaw ).Hexapods are most well known from flight simulators and driving simulators, where big hydraulic actuators offer large causes and rapid action. Truly, in 1965, a paper printed by N. Stewart in britain explained the notion of employing a 6-degree of freedom motion podium for flight simulators. This is one way the Stewart platform came by its name.High Precision Hexapod PlatformsOn one other end of the range are ultra-high detail hexapod positioners with electro-magnetic and piezo-electric drives for programs such as fibre optic alignment, nanotechnology and computer aided surgery. Here accuracy down to the sub-micron and also nanometer world is required. A fast processor is needed by the control of a Hexapod to provide the required coordinate transformations and 6-D vector movements. Typically every move, a simple straight-line linear motion, requires all 6 actuators. This is often difficult in the control and mechanical design.Serial and Parallel KinematicsOn another hand, hexapods have several advantages over traditional multi-axis positioning systems (sequential kinematics, or loaded axes). Hexapods are bigger in rigidity, light and lower in inertia these conventional positioning devices. The inertia provides for much higher character, faster acceleration and start / end conduct. Hexapods and parallel-kinematics are even found in CNC accuracy machining facilities and also in pick and place robots due to their quick response.More Hexapod ApplicationsLarge huge telescopes generally use hexapod positioners to align optics and mirrors. The high rigidity, small impact and large main aperture play a key role here. Automated, motorized fiber positioners also benefit from the hexapod axioms. With all quantities of freedom, and an openly programmable rocker point, shifts of the fiber tip can be accomplished round the beam waist, and even fiber bundles can be arranged easily and efficiently.In vacuum applications, place is normally at a premium and smaller is better when it comes to installing a placement program inside a vacuum chamber. Here, the compact machine hexapod style offers further benefits. Since cables are not attached to the individual sliding and spinning axes such as with loaded positioners, there are no dilemmas with reaching obstacles and no twisting causes or torque applied by the stiff machine cables affect the precision of the positioning method negatively.While hexapod precision positioning programs will not change all traditional multi-axis positioners any time soon, the selection of options that are available today (physical adjustments, advanced controllers and software simulation methods to assist with the design and installation) will ensure it is easier for motion-system design engineers to think outside the traditional field / bunch.