Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System

Authors

  • Mihai MĂRGĂRITESCU National Institute of Research and Development in Mechatronics and Measurement Technique
  • Dan DUMITRIU Institute of Solid Mechanics of the Romanian Academy
  • Cornel BRIȘAN Technical University of Cluj-Napoca
  • Ana Maria Eulampia ROLEA National Institute of Research and Development in Mechatronics and Measurement Technique
  • Anghel CONSTANTIN National Institute of Research and Development in Mechatronics and Measurement Technique

DOI:

https://doi.org/10.5755/j01.mech.26.6.20949

Keywords:

positioning system, Stewart platform, double hexapod, extended workspace

Abstract

The aim of this study was to assess the functionality of a compact robotic system with hybrid kinematic structure, consisting in two hexapods serially connected and controlled in such a way that they have identical configurations any time, in terms of accuracy and maneuverability. By the aid of the a demonstration model it was intended to prove that the system substantially benefits of the precision and robustness of the parallel structures and simultaneously is capable to generate complex motions in a significant extended workspace compared with a single hexapod. The double hexapod system answers the actual need of accurate, complex and robust positioning systems used in new technologies and possibly in robotic surgery.

Author Biographies

  • Mihai MĂRGĂRITESCU, National Institute of Research and Development in Mechatronics and Measurement Technique

    Head of Laboratory "Intelligent systems, Data acquisition and Robotics", Senior Researcher

  • Dan DUMITRIU, Institute of Solid Mechanics of the Romanian Academy

    Robotics and Mechatronics Laboratory, Scientific Researcher

  • Cornel BRIȘAN, Technical University of Cluj-Napoca

    Faculty of Mechanics, Professor

  • Ana Maria Eulampia ROLEA, National Institute of Research and Development in Mechatronics and Measurement Technique

    "Intelligent systems, Data acquisition and Robotics" Laboratory, Scientific Researcher

  • Anghel CONSTANTIN, National Institute of Research and Development in Mechatronics and Measurement Technique

    "Intelligent Measurement Technique" Laboratory, Scientific Researcher

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Published

2020-12-07

Issue

Vol. 26 No. 6 (2020)

Section

DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS

License

The copyright for the articles in this journal is retained by the author(s) with the first publication right granted to the journal. The journal is licensed under the Creative Commons Attribution License 4.0 (CC BY 4.0).