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M-850 Hexapod Hexapod in Motion
The M-850 Hexapod is the only commercially available micropositioning system providing six degrees of freedom with 1 µm resolution that allows the user to define the pivot-point anywhere inside or outside the system's envelope. Rotation about that pivot point can be specified (with microradian resolution) for any axis of rotation. The M-850 Hexapod offers value for any complex, high accuracy positioning task where independent motion in six degrees of freedom is required.
- Six Degrees of Freedom
- Works in any Orientation
- Load Capacity 200 kg Vertically, 50 kg Random Orientation
- Repeatability ±1 µm (Z-axis), ±2 µm (Six-Axis Moves)
- Significantly Smaller Package than Conventional Six-Axis Positioners
- True Path-Control
- Linear and Rotary Multi-Axis-Scans
- Random Definition of the Pivot Point to any Location Inside or Outside the M-850 Envelope
- Sophisticated, User-Friendly Software and Control Electronics
- Higher Stiffness allows for faster Step and Settle than Conventional Multi-Axis Systems
M-850 in IPA's Surgical Robot Application Examples:
Working Principle:
- X-ray Diffraction
- Microwave Antenna Test-Beds
- Surgical Robots
- Positioning of Optics, Electron Guns, Lasers, or other Energy Sources
- Positioning of Mirrors in Astronomical Telescopes
- Semiconductor Handling Systems
- Tool Control for Precision-machining & Manufacturing
- Fine-Positioning of Active Secondary Mirror Platforms in High Resolution Telescopes
The M-850 Hexapod consists of six struts which expand and contract between a bottom and a top platform. Although similar to positioning systems used in flight-simulators, it is the first commercially available system to introduce this technique to sub-micron resolution positioning systems.The use of extremely stiff and accurate components for all moving parts such as joints, bearings and drive screws results in an unusually high natural frequency (500 Hz @ 10 kg load). The Hexapod principle requires all six struts to alter their length if a change of the platform in only one axis is desired. On the other hand, if only one strut alters its length, all six coordinates (X, Y, Z, QX,QY,QZ) will be affected. This is the challenge in the Hexapod construction. The twelve multi-degree-of-freedom joints must guarantee guiding precision and zero backlash. Therefore, CAD (Computer Aided Design), FEA (Finite Element Analysis) modeling and laser vibrometry were employed for system optimization.
M-850 Hexapod with Motor ControllerIn contrast to conventional multi-axis positioning systems, where a change in one coordinate also affects the pivot point and the other coordinates, the M-850 system automatically compensates for all unwanted motion. Sophisticated software automatically performs the necessary coordinate transformations and transmits the individual velocity/coordinate information to each motor controller axis.
The M-850 Hexapod is delivered with an intelligent industrial PC based DC Motor Controller with RS-232 interface and user friendly software. The software allows direct six-axis positioning by entering the X,Y,Z and QX,QY,QZ coordinates as well as the pivot point. The software also allows easy programming of motion sequences.
