Abstract

In this paper, we present a solution of the inverse kinematic problem for a one-degree-of-freedom hexapod with a circular guide. The problem was solved applying analytical and numerical calculation methods using MATLAB package. The given algorithm for solving the inverse problem also allows studying the six-degree-of-freedom hexapod. The paper presents assembling computational models (virtual prototypes) of one- and six-degree-of-freedom hexapods with a circular guide.

中文翻译：

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带圆导轨的六足动物逆运动学问题的求解

摘要

在本文中，我们提出了具有圆形导轨的单自由度六足动物的逆运动学问题的解决方案。该问题是通过使用 MATLAB 包应用解析和数值计算方法解决的。用于解决逆问题的给定算法还允许研究六自由度六足动物。该论文介绍了具有圆形导轨的一自由度和六自由度六足机器人的组装计算模型（虚拟原型）。