Linear Hexapod
Overview
The Linear Hexapod simulator allows you to configure and visualize a 6-DOF (Degrees of Freedom) motion platform using linear actuators arranged in a hexapod configuration. The simulator provides controls for rig dimensions, actuator specifications, and motion limits.
Configuration Parameters
Rig Dimensions
L1: Upper Distance between Pivots (mm)
L2: Upper Distance between Pivots 2 (mm)
L3: Base Distance between Pivots (mm)
L4: Base Distance between Pivots 2 (mm)
Actuator Settings
Middle Length: Neutral (50% travel) actuator length (mm)
Travel: Total actuator travel distance (mm)
Overallocation Factor: Safety margin for actuator travel (default: 2.00)
Travel Limits
Controls the maximum range of motion for each axis:
Linear Motion (mm)
Sway: Lateral movement (left/right)
Surge: Forward/backward movement
Heave: Vertical movement (up/down)
Angular Motion (degrees)
Pitch: Forward/backward tilt
Roll: Side-to-side tilt
Yaw: Rotational movement
Collision Prevention (Experimental)
Enables real-time collision detection between actuators and the cockpit structure. Collision Prevention is computation intensive and may cause the motion loop to run slower on older machines. Check CPU usage in Task Manager.
Parameters:
W: Platform width (mm)
L: Platform length (mm)
SD: Sunken depth (mm)
Y: Vertical offset (mm)
Actuator Diameter: Physical size of actuators (mm)
Note: Test Collision Prevention with the Manual Control source before using with any games. Start with a large Actuator Diameter value, around 100mm larger than physical actuators.
Usage Tips
Presets: Use the preset dropdown to quickly load pre-configured settings for Departed Reality DIY Layouts.
Safety Considerations:
Enable collision prevention to avoid mechanical conflicts
Use reasonable overallocation factors to prevent actuator overextension
Start with conservative travel limits and gradually increase as needed
Optimization:
Adjust rig dimensions to achieve desired range of motion
Balance actuator travel against platform stability
Consider mechanical limitations when setting travel limits
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