Design and control of flexure jointed hexapods

By combining static input-output decoupling transformations with hexapod ge ometric design, the highly coupled dynamics of a flexure jointed hexapod ca n he decoupled. Several algorithms have been proposed which result in diffe rent sets of decoupled inputs and outputs, and which can use a variety of f eedback measurements (position, velocity, acceleration, or force in either joint or Cartesian spaces). Three hexapod configurations satisfying the geo metry requirements have been proposed. Experimental results indicate that t he approach is practical and yields superior performance.