Simulation Analysis on Kinematics and Force of Hexapod

Hexapod is one example of a parallel connection mechanism. This paper simulates the movement of a hexapod, analyses the velocity and acceleration of the movable platform and the force acted on the rods. Inside a specific workspace, the cure of velocity and acceleration of the platform and the force of the rods when the platform moves is drawn by a simulation program. According to the results, the factors that influence the veracity and stability of the platform's movement are discovered. The relation between the maximum force of rods and maximum acceleration of platform indicates the mechanism has good dexterity and the platform can move with high velocity and acceleration. The results also provide reference for the control of the mechanism.