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Parallel-Kinematic Precision Positioning Systems

Parallel-Kinematic Precision Positioning Systems
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Parallel-Kinematic Precision Positioning Systems - 1

Compact Positioning System with Six Degrees of Freedom Hexapod platforms are used for moving and precision positioning, aligning and displacing loads in all six degrees of freedom, i.e. three linear and three rotational axes. Hexapods have a parallel-kinematic structure, i.e. the six drives act together on a single moving platform. The length of the single drives can be changed so that the system moves in all six degrees of freedom in space. This special Hexapod design optimizes the overall system stiffness and allows for a large central aperture. Precise Positioning Even of Heavy Loads Depending on their design, Hexapods can position loads from several kg up to several tons in any spatial orientation, in other words independently of the mounting orientation and with submicrometer precision. Advantages over Serial-Kinematic Design Hexapods can be designed considerably more compact than serially stacked multi-axis positioning systems. Since only a single platform, most often provided with a large aperture, is actuated, the moving mass of the Hexapod is significantly smaller. This results in improved dynamics with considerably faster response. Furthermore, cabling is no issue, so that no additional forces and torques reduce the accuracy. In case of stacked systems, the lower axes not only move the mass of the payload but also the mass all other following drives. This reduces the dynamic properties and the total system stiffness. Moreover, the runouts of the individual axes add up to a lower accuracy and repeatability.

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Parallel-Kinematic Precision Positioning Systems - 2

Matching Components for High Precision Cardanic joints of the H-840 Hexapod model The basis is a zero-backlash structure and carefully selected and matching components. This includes first of all the right material selection, when e.g. thermal effects are to be expected at the place of operation. The motor, if necessary with gearhead, an integrated guiding, the leadscrew/nut unit, as well as the joints for the required load range up to high-resolution position detection in every strut – all these elements determine the achievable precision. Hexapods for precision positioning often have...

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Parallel-Kinematic Precision Positioning Systems - 3

Headquarters GERMANY_ © Physik Instrumente (PI) GmbH & Co. KG All contents, including texts, graphics, data etc., as well as their layout, are subject to copyright and other protective laws. Any copying, modification or redistribution in whole or in parts is subject to a written permission of PI. Although the information in this document has been compiled with the greatest care, errors cannot be ruled out completely. Therefore, we cannot guarantee for the information being complete, correct and up to date. Illustrations may differ from the original and are not binding. PI reserves the right...

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