![]() Klaus patented his design and licensed it to the first flight simulator companies, and built the first commercial octahedral hexapod motion simulators. In 1962, prior to the publication of Stewart's paper, American engineer Klaus Cappel independently developed the same hexapod. This specialised six-jack layout was first used by V E (Eric) Gough of the UK and was operational in 1954, the design later being publicised in a 1965 paper by D Stewart to the UK Institution of Mechanical Engineers. Because the device has six actuators, it is often called a hexapod (six legs) in common usage, a name which was originally trademarked by Geodetic Technology for Stewart platforms used in machine tools. It is sometimes called a six-axis platform or 6-DoF platform because of its possible motions and, because the motions are produced by a combination of movements of multiple actuators, it may be referred to as a synergistic motion platform, due to the synergy (mutual interaction) between the way that the actuators are programmed. In many applications, including in flight simulators, it is commonly referred to as a motion base. Stewart platforms are known by various other names. Devices placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move: three linear movements x, y, z (lateral, longitudinal, and vertical), and the three rotations (pitch, roll, and yaw). ![]() ![]() ![]() All 12 connections are made via universal joints. Hexapod during the " Army-2021" exhibition.Ī Stewart platform is a type of parallel manipulator that has six prismatic actuators, commonly hydraulic jacks or electric linear actuators, attached in pairs to three positions on the platform's baseplate, crossing over to three mounting points on a top plate. ![]()
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