In this paper, a method is proposed for dynamic
balancing of hexapods for high-speed applications. The kinematic structure of
the hexapod is based on the parallel mechanism. For high-speed
applications, hexapod dynamics is the dominant factor, and dynamic balancing
becomes very important. The proposed method is aimed at minimizing
the changes in the hexapod inertia over the workspace by
utilizing the tool holder attached to the hexapod's end-effector as
a counterweight.