Integrated Design Analysis and Control of an Hexapod

In this study, the aim is to implement integration of design analysis and control procedures of an hexapod planned to use medical operations whereas required micro positioning. Hexapods with their high accuracy, high stiffness and dynamic properties are widely used parallel robots in such areas, medical, aviation, astronomy. In this study a method is developed to integrate all required engineering procedures for design and control of robots and applied to hexapod. In solid modeling SolidWorks (Dassault Systems, 2007), in machine dynamics analysis, CosmosMotion, in finite element rigidity analysis CosmosWorks software packages and in motor control software of ADLINK company are used. With VisualBasic software package integration is established by using API ("Application programming interface") of software and ActiveX control properties. Using this method parametric modeling software is developed and hexapod prototype is designed, then manufactured. Again with this method point to point and trajectory motion control software is developed. In addition in this study a mechanical solution for reducing backlash has been designed and applied to the prototype.