Research on degree of freedom of multi-configuration of the hexapod mounts based on the screw theory

Mingxin An; Shuyan Xu; Jihong Dong; Lihao Zhang

doi:10.1117/12.2266837

8 March 2017 Research on degree of freedom of multi-configuration of the hexapod mounts based on the screw theory

Mingxin An, Shuyan Xu, Jihong Dong, Lihao Zhang

Proceedings Volume 10255, Selected Papers of the Chinese Society for Optical Engineering Conferences held October and November 2016; 1025538 (2017) https://doi.org/10.1117/12.2266837
Event: Selected Papers of the Chinese Society for Optical Engineering Conferences held October and November 2016, 2016, Jinhua, Suzhou, Chengdu, Xi'an, Wuxi, China

Abstract

A new method for the determination of the degree of freedom of the hexapod mount based on screw theory has been proposed. The method is applied to the mobility analysis of the four configurations of the hexapod mount, say the 3-3 configuration, 3-6 configuration, 6-3 configuration and 6-6 configuration. The conclusion which the DOF of the four structures of the hexapod mount is zero and over-constraint does not exist has been derived by the analysis of the motion screw systems of the four structures, and it also presents that the four structures are equivalent in DOFs and the DOF of variation configuration of the hexapod mount is also zero and over-constraint does not exist, which provides a strong theoretical support for the feasibility of the kinematic supporting of the optical module. The method also provides a reference for the mobility analysis of other parallel manipulators.

Citation Download Citation

Mingxin An, Shuyan Xu, Jihong Dong, and Lihao Zhang "Research on degree of freedom of multi-configuration of the hexapod mounts based on the screw theory", Proc. SPIE 10255, Selected Papers of the Chinese Society for Optical Engineering Conferences held October and November 2016, 1025538 (8 March 2017); https://doi.org/10.1117/12.2266837

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KEYWORDS

Kinematics

Lanthanum

Radium

Spherical lenses

Motion analysis

Rubidium

Space telescopes

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