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The article deals with the preparation of simulation model of mechanism with parallel kinematic structure called hexapod as an electro-mechanical system in software MATLAB/Simulink. The simulation model is composed from functional blocks represented each part of mechanism’s kinematic structure with certain properties. The results should be used for further simulation of its behaviour as well as for generating of control algorithms for real functional prototype.

Modelling and Simulation of Machine Tool Prototype with 6DOF Parallel Mechanism in Matlab / Simulink