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David Turcic Abstract: A six degree-of-freedom robotic actuator platform, also known as a hexapod or a Gough-Stewart platform, was designed and implemented. This project required several areas of study including parallel robot kinematics, closed loop control systems, multi-node communications buses, and embedded real-time computers. The system is comprised of three main components: the mechanical platform, a set of six electric actuators with custom controllers, and a central computer.
The central computer handles the time consuming, computationally intensive kinematics and path planning equations. After solving those it communicates the individual motion commands to each of the actuator controllers where they are executed setting the leg lengths.
The platform was designed to incorporate the geometry of the selected electric actuators, and the available off the shelf universal and spherical joints.
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It was also desired to be of tabletop size. The parallel mechanism kinematics were simulated using Matlab so that the workspace of the platform could be estimated and incorporated into the design process.
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A low cost electric actuator was modified to add improved accuracy and closed loop feedback. A motor controller board was designed, built and programmed to achieve this.
The controller board implements a PID control loop executed in an ARM based microcontroller to give precise position control of the actuator. It receives commands over the integrated CAN Bus transceiver. A custom message protocol was developed to allow synchronized position movements between multiple actuators.
This allows each actuator to act as a single modular component requiring only a 12v power supply and a two wire connection to the CAN Bus. These could be used for any other motion control task where multiple axes of motion are required. In this application six such actuators were built and used, but in theory up to 30 could be connected to a single communication bus.
The central controller was implemented using a Raspberry Pi single board computer. An expansion board was created to add CAN Bus connectivity.
The central controller's role is to handle path planning and coordinate and synchronize the motion of the six independent actuators. The motion control was implemented using the Machinekit open source CNC control software.
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Implementing the hexapod kinematics and remote control of the actuators over the CAN Bus required several modifications and additions the software and involved compiling the Linux kernel with the necessary changes. The software parses standard G-code instructions, allowing paths to be entered by hand, or developed using commonly available CAM software.