Closed-form solution for reachable workspace of axially symmetric hexapod robots

The reachable workspace of hexapod robots is a key performance parameter in robot design. This paper presents an analytical solution for the reachable workspace of axially symmetric hexapod robots. The solution methodology decomposes the hexapod robot into three intersecting modified four-bar mechanisms. The contribution of each modified four-bar mechanism to the overall workspace is found and combined to form the reachable workspace. The presented methodology for finding the analytical solution to the reachable workspace is extendible to other types of workspaces, hexapod robot geometries, and applicable to any n-pod robot. An example is provided to mathematically illustrate the presented methodology.