Skip to main content

Hexapteron - The simplest six-DOF parallel robot

This video shows the very first movements of the Hexapteron, a unique six-Degree-of-Freedom (6-DOF) parallel robot with trivial inverse and direct kinematics. There's still a lot of work left.. The Hexapteron was invented by @Nicholas Seward and its kinematic model was described for the first time in: Seward, N., and Bonev, I.A., "A new 6-DOF parallel robot with simple kinematic model", 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 – June 5, 2014. What's unique about the Hexapteron is its kinematics: both its direct and inverse kinematic models have a single solution that is trivial to calculate. That's unseen for a 6-DOF parallel robot with six identical legs and no double or triple spherical joints. Most parallel robots have simple inverse kinematics but extremely complex direct kinematics. For example, the popular telescoping-strut hexapod can have up to 40 different real solutions to its direct kinematic problem. The mechanical design of the Hexapteron prototype was made by @Edelvays Cherchelanov as part of his Ph.D. thesis at the ÉTS. The robot controller was designed by François Vadnais, technician at the ÉTS. The controller and the robot motors are from @Beckhoff Automation. The robot was machined and assembled at the ÉTS. Lastly, programing was done by a team of four undergraduate students at the ÉTS, as part of their single-semester capstone project.

Source: CoRoETS YouTube channel video.


You might also like

    Popular posts

    Royal Marines Jet Suit Boarding Ex

    Thanks to Royal Marines LLC for setting up a very successful exercise testing the capability of the Gravity Jet Suit to support RM boarding ops. Huge effort from 42cdo, 47cdo, HMS Tamar, Qinetiq and DSTL. With a rich family history in Aviation, former Oil Trader & Royal Marines Reservist, Richard Browning, founded pioneering Aeronautical Innovation company, Gravity Industries in March 2017 to launch human flight into an entirely new era. The Gravity #JetSuit uses over 1000bhp of Jet Engine power combined with natural human balance to deliver the most intense and enthralling spectacle, often likened to the real life Ironman. Gravity has to date been experienced by over a billion people globally and covered by virtually every media platform. The Gravity Team, based in the UK, have delivered over 100 flight & Speaking events across 30 countries including 5 TED talks. "The team and I are delivering on the vision to build Gravity into a world class aeronautical enginee

    Mechatronic hand

    I'm building a new hand, and I thought that it might be interesting to document a portion of the approximately 600 hours that it takes to design and prototype such a device. That way, when the 3 to 4 people a day that are requesting that I build a custom device for their loved one, they can have a small idea of what would go into fulfilling such a request. By the way, I finally started a Patreon a couple of months ago, and a few of my subscribers found it and started backing me! Thank you so much to: Jamie Cann, Joe, Derek Shaw, Petr Khromov, Giel Berden, Travis Rice, Mathew Nelson, and Finley JH Barrass for supporting me! Source: Ian Davis YouTube channel video .

    An Open Soure Cable Driven Robot: First Prototype

    We built a first prototype of the cable driven robot using ODrive. At the moment we are working on adding more motors and degrees of freedom. The student hobby project RopeBot became a research project at TU Dresden: Source: ropebot YouTube channel video .

    Multi-contact heavy object pushing with a centaur-type humanoid robot: Planning and control

    "Multi-contact heavy object pushing with a centaur-type humanoid robot: Planning and control for a real demonstrator", Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli and Nikos G. Tsagarakis - IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 859-866, April 2020 Link to paper: Source: Enrico Mingo Hoffman YouTube channel video .

    Pallet and tray handling system (Colruyt, Belgium)

    Colruyt is one of the major supermarkets in Belgium. Scott designed and built a material handling system for pallets and trays in their new packing facility. A pair of centrally installed pallet elevators transfer incoming pallets of bulk fruit trays to a robot cell, which then depalletises the trays and sends them to the packing lines, while simultaneously palletising incoming trays of packed product which are then strapped, labelled and sent down the central elevators for despatch. Source: Scott Automation + Robotics YouTube channel video .

    Mirobot | 6-axis Mini-industrial Robot Arm

    A compact, affordable and open-source desktop robotic arm. Perfect for coding, creative work and much more. When thinking about industrial robots, what comes to mind is their size, high price and complexity. Although many people are passionate about industrial robot such as KUKA, until now, it has been unrealistic to own a quality industrial robot at home. Today that changes with Mirobot, the smallest 6-axis industrial robot arm for home, school and professional use. Source: CF OG YouTube channel video .

    Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

    Associated paper that details the feedback controller used on Cassie Blue is on the arXiv: and has been accepted for publication at the 2019 American Control Conference. The software implementation of the controller has been released on GitHub Source: Michigan Robotics: Dynamic Legged Locomotion Lab YouTube channel video .