A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

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A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

The scope of this paper is to present a novel method of actuating the legs of a walking parallel kinematic machine tool (WalkingHex) such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations. Different concepts for...

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Bibliographic Details
Main Authors:	Rushworth, Adam, Axinte, Dragos, Raffles, Mark, Cobos-Guzman, Salvador
Format:	Article
Published:	Elsevier 2016
Subjects:	Hexapod; Walking robot; 6-axis milling machine; Robotised machine tool; Leg design
Online Access:	https://eprints.nottingham.ac.uk/40440/

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