Design of the Desired Trajectory for the Hexapod Movement

Abstract

The diploma project is focussed on creating an optimal design of the trajectory for the Hexapod to move on the operational cartesian workspace. The initial focus of the work is aimed at creating the desired trajectory and to ensure the effective path and smooth curves following the trajectory. The afterwork includes the use of Inverse Kinematics to calculate the actuator leg lengths to follow the desired trajectory along with modelling and simulation of Stewart platform on SIMULINK environment parametrized to Acrome platform and to design the control signal for controlling the Acrome platform for the created trajectory. Final work includes the testing of trajectories on Acrome platform and evaluation of obtained results.