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heXpod 6DoF

First "Inverse Kinematic" fully parametrable design/driving solution for octahedral hexapods.

Latest version of the plugin for x-sim software is available in the download section.

This 6-dof software is compatible with TronicGR AMC1280usb board.

The purpose of this release is to propose to the user a geometrically precise 6-DoFof driving solution as well as a customizable and comprehensible design tool for hexapods equipped with crank levers or linear actuators.

Various limiting options, when properly set, will insure the best compromise between the maximal workspace and mechanical protection.

The "out of reach" feature will act like a geometrical guardian. In some circumstances, when combined DoF's occurs, will prevent a geometrically false dof response by simply stopping the whole motion.

Beside the standard parameters like crank lever length, leg length, base size and platform size, the heXpod 6DoF allows customized joint and motor spacing by modifying the attachment points.

Being able to choose a customized placement and orientation of a crank levers and their starting position angle will allows you not only the possibility to fit exactly every existing design but will also provide a big flexibility while designing your own geometry.

Additionally, with the servo scaling feature you will have the flexibility to fit better the art of your feedback sensors.






Please take all safety precautions while testing on a full scale model!


- In order to install the plugin, simply copy and replace the 6DOF.dll file in the X-Sim/Interfaceplugin folder

- Ask for activation code


- In the "cranked" design (rotary actuators), you always have to take the "center of the servo" as the base attach points. To fit the 3d model properly, the easy way to find out your base size, is to draw a circle through your lower joints, when the crank levers are fully vertical


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