In this paper,the drive structure of the oblique-guide-rail configuration of the Hexapteron mechanism is redesigned,and a new structure is obtained,which is more compact and convenient for mechanical design and motion control programming.Based on screw theory,the inverse kinematics equa-tion of the mechanism is derived,and the simulation is carried out in ADAMS and Matlab respectively to verify the result.Comparison proves the correctness.The work can provide a theoretical basis for works such as speed analysis,performance evaluation and optimization analysis.In addition,the method can be generalized to other variants configurations of Hexapteron mechanism.
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