ABSTRACT
Industrial robots (IRs) and hexapods are programmable multifunctional devices. Robots are designed to move materials, parts, tools, or special devices through a programmable pass to perform in a seemingly human way, whereas hexapods are intended mainly to perform a machining duty similar to numerically controlled (NC) and computer numerical control (CNC) machine tools. In hexapods, the workpiece is xtured on a table, and three pairs of telescopic legs (struts), each equipped with its own drive, are used to maneuver a rotating cutting tool (or end effector). During the operation, the controller shortens some legs, while lengthening others, so that the tool follows a desired contour with respect to the workpiece.
