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

Section

DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS