Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices (Q2494525)

The parallel structured kinematic machines with six degrees of freedom can be classified as hexapods, having struts with varying length, and hexaslides with fixed-length legs. Some of machine tools with hexaslide-type design are: the hexaglide with coplanar-parallel rails; the milling machine HexaM with slanted rails; and Linapod with vertical rails. The authors propose a dynamical model of generalized hexaslide based on decoupled natural orthogonal complement matrices. Such approach has some advantages which are demonstrated for machine tool of HexaM, while it is carrying out a circular contouring.