The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called a HEXA, consisting of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this development, we present a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion. Dr. R. Wada, Mr. K. Unno, and Prof. M. Yamanaka (currently the High Energy Accelerator Research Organization) at Toyoda Machine Works (currently JTEKT), and Dr. Pierre Dauchez at LIRM, Montpellier II University have supported the development cooperatively. They are acknowledged.
6th (1995) Technical Innovation Award