PC-Based Control of Hexapod

In this book, the aim is to control an hexapod with PC-based control. In this manner, a 6-DOF parallel manipulator known as hexapod used in the areas such as precise manufacturing and medicine is examined. For the experimental study, an hexapod is designed and manufactured. In order to control the hexapod, an integrated VisualBASIC program which uses VisualNASTRAN is developed. The program runs simulation, takes simulation results as inputs and controls linear step motors via PC-based motion controllers. Positions of the hexapod in consequence of controlling are measured with a coordinate measuring machine (CMM) and results are presented. Furthermore, for another experimental study, a servo motor experimental rig is set with three AC servo motors which are actuators of a 3- DOF serial manipulator on which the hexapod will be attached. Simulations are done in VisualNASTRAN to determine actuator positions. VisualBASIC programs whose inputs are simulation results are developed to control servo motors according to different control methods and algorithms via PC-based motion control cards.