In this book, the aim is to control an hexapod with PC-based
control. In this manner, a 6-DOF parallel manipulator known as
hexapod used in the areas such as precise manufacturing and
medicine is examined. For the experimental study, an hexapod is
designed and manufactured. In order to control the hexapod, an
integrated VisualBASIC program which uses VisualNASTRAN is
developed. The program runs simulation, takes simulation results as
inputs and controls linear step motors via PC-based motion
controllers. Positions of the hexapod in consequence of controlling
are measured with a coordinate measuring machine (CMM) and results
are presented. Furthermore, for another experimental study, a servo
motor experimental rig is set with three AC servo motors which are
actuators of a 3- DOF serial manipulator on which the hexapod will
be attached. Simulations are done in VisualNASTRAN to determine
actuator positions. VisualBASIC programs whose inputs are
simulation results are developed to control servo motors according
to different control methods and algorithms via PC-based motion
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