PC-based control of hexapod

In this study, 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. Simulations are done in VisualNASTRAN to determine actuator lengths of the hexapod. Actuators of the hexapod are linear step motors. 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. Point-to-point open loop control is applied. 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. Open loop and closed loop path tracking control are applied. Results are presented. Motors are successfully followed reference curves and give good responses regarding proposed algorithms.