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Proceedings Paper

Research on degree of freedom of multi-configuration of the hexapod mounts based on the screw theory
Author(s): Mingxin An; Shuyan Xu; Jihong Dong; Lihao Zhang
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Paper 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.

Paper Details

Date Published: 8 March 2017
PDF: 14 pages
Proc. SPIE 10255, Selected Papers of the Chinese Society for Optical Engineering Conferences held October and November 2016, 1025538 (8 March 2017); doi: 10.1117/12.2266837
Show Author Affiliations
Mingxin An, Changchun Institute of Optics, Fine Mechanics, and Physics (China)
Univ. of Chinese Academy of Sciences (China)
Shuyan Xu, Changchun Institute of Optics, Fine Mechanics, and Physics (China)
Jihong Dong, Changchun Institute of Optics, Fine Mechanics, and Physics (China)
Lihao Zhang, Changchun Institute of Optics, Fine Mechanics, and Physics (China)


Published in SPIE Proceedings Vol. 10255:
Selected Papers of the Chinese Society for Optical Engineering Conferences held October and November 2016
Yueguang Lv; Jialing Le; Hesheng Chen; Jianyu Wang; Jianda Shao, Editor(s)

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