Being invented in the 1950s, the legendary Hexapod continues to admire us with its elegant movements. Its simple architecture inspired generations of engineers, scientists and hobbyists around the world to replicate and study it over and over. The Hexapod (also known as a Gough-Stewart platform) has six degrees of freedom (6DOF): three translational along x, y, z and three rotational about x, y, z. The kinematic structure of the Hexapod is based on a spatial truss which makes it incredibly rigid (comparing to the serial robots) and capable of manipulating the high loads. All this combined with a very compact design enables it to be successfully used in multi-axis positioning systems such as flight simulators, telescope positioners, oscillation simulators, micropositioners for optics and so on. It would be fair, however, to mention that the Hexapod architecture has very limited tilt angles (usually ±15-30 degrees). Moreover, increasing the tilt angles causes a significant decrease in the workspace of the robot.…