Adaptive control of the Hexaglide, a 6 dof parallel manipulator

A One-Motor Full-Mobility 6-PUS Manipulator

“…The manufacturing conditions that allow condition (c) to be avoided are much more difficult to be visualized and a careful numerical check is necessary. It is worth noting that the leg arrangements with all the housings on the same rack geometrically coincide with the Hexaglide architecture (Honegger et al, 1997), and the results obtained for the Hexaglide can also be usefully exploited.…”

“…Boye and Pritschow (2005) named them linapods. Honegger et al (1997) proposed the Hexaglide that has six parallel and coplanar guides. Moreover, some of the proposed architectures (Bernier et al 1995;Pritschow et al 2002) exhibit coincident guides for couples of prismatic pairs, and, in particular, Nabla 6, proposed by Bernier et al (1995), has three coplanar guides each carrying two sliders.…”

A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions

“…In order for a standard trocar needle tip to reach the workspace, the system requires articulation in five degrees of freedom (5DOF), in particular, 3DOF in translation and 2DOF in rotation (not including roll about the needle axis). Mechanisms that couple translations and rotation such as hexaglide systems [10] may not be able to produce the amount of articulation necessary to rotate the needle for procedures. The desired workspace, combined with the documented positioning accuracy and stiffness advantages of parallel mechanisms [11,12] lead to the choice of a double, parallel 3 P-U-U (prismatic-universal-universal) mechanism for translations in the X, Y, and Z directions, decoupled from rotations about X and Y (Fig.…”

Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms

“…Moreover, the proposed PLMs are suitable for force control, because the linear motors are directory driven without friction full gearings. Several studies related to expanding the movable range of the PLM have previously been published (Honegger et al, 1997), (Kim et al, 2003), (Liu et al, 2004), , (Milutinovis et al, 2005), (Zhang, 2008). Notably, redundantly actuated 3-DOF xy planar PLMs on linear actuators (Zhang, 2008), (Wang et al, 2008), (Marquet et al, 2001) have been proposed as mechanisms that are similar to our PLM.…”