There are hundreds of parallel robot designs, of these, some are suitable for fast material transfer operations, others for precision positioning, or like Fanuc's hexapod, for withstanding heavy payloads. Unfortunately, few machining applications using hexapods exist today in the industry due to the complexity and scarcity of practical studies on the kinematic and dynamic properties of these robots. In this paper, kinematic and parameterized finite element models of Fanuc's F-200iB hexapod for robotic machining are presented. First, the complete inverse kinematic analysis of the hexapod is introduced. Using key points’ locations from the inverse kinematics, a parametrized geometrical model of the hexapod is developed. Then, the finite element model of the robot is created by assembling all the members with their geometry, mass distribution, material characteristics, and by applying rigorous boundary and joint conditions. Finally, the experimental results show that the parameterized finite element model precisely predicts mode shapes and natural frequencies for several poses of the mobile platform. The accurate simulation model will be essential for optimizing the performance of the hexapod for machining tasks.

有数百种并联机器人设计，其中一些适用于快速材料转移操作，另一些适用于精确定位，或者像发那科的六足机器人一样，可以承受重载荷。不幸的是，由于对这些机器人的运动学和动力学特性的实际研究的复杂性和稀缺性，当今行业中很少有使用六足机器人的加工应用。在本文中，介绍了用于机器人加工的发那科 F-200iB 六足机器人的运动学和参数化有限元模型。首先，介绍了六足动物的完整逆运动学分析。使用来自逆运动学的关键点位置，开发了六足动物的参数化几何模型。然后，通过组装所有具有几何形状、质量分布、材料特性，并通过应用严格的边界和接头条件。最后，实验结果表明，参数化有限元模型可以准确预测移动平台多个姿态的振型和固有频率。精确的仿真模型对于优化六足机器人加工任务的性能至关重要。