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Overview

Software for Hexapods

Easy Control of Complex Motion

Due to their parallel kinematic structure, Hexapods necessitate a particularly complex control system. For example, the position coordinates are given in virtual Cartesian axes which are then converted into positioning commands for the individual actuators by the controller. PI supplies special software that allows more convenient operation and integration for the 6-axis positioners.

Simulation Programs
PI Hexapod Specific Software

Simulation Programs

Determining Motion and Work Space

The limits of the work space vary depending on the current position of the Hexapod (translation and rotation coordinates) and the current coordinates of the pivot point. A special software tool included with each PI Hexapod calculates these limits and displays them graphically.

Checking the Permissible Load

The load limit of the Hexapod varies as a function of a number of factors: the starting position of the Hexapod system, the installation position of the Hexapod, the payload and position of its center of mass, the position (translation and rotation coordinates) of the moved Hexapod platform, as well as the forces and moments acting on the moved platform of the Hexapod.

PIVeriMove: Avoiding Collisions in Limited Work Spaces

An additionally available PI simulation software tool enables offline graphical configuration and simulation of the Hexapod in the application environment. CAD data of objects can be imported or approximated with simple shapes such as cylinders and cuboids. PIVeriMove then checks resulting restrictions in the work space. Implemented in the controller firmware or the application software, this prevents the Hexapod from approaching positions where the platform or the mounted load would collide with the surroundings.

Software Emulators

Software Emulators

The Hexapod System as a Virtual Machine

It is often desirable to implement the customer software or check the requisite work space for the task on hand early on without the system yet being available on site. PI supplies a suitable software that can be used to realize a complete hexapod system (hexapod mechanics and controller, possibly including peripherals) as a virtual machine on the host-PC. This allows application programs to be developed and pre-tested, different load scenarios to be simulated and the work space determined before receiving the system, saving significant cost and development time. And everything is ready for use at the time of delivery!

G-Code

Precise Trajectory Control Using G-Code

The Hexapod controller may also control the trajectory based on G-Code acc. to DIN 66025/ISO 6983. For this purpose, G-code is directly implemented in the controller as command language. With G-Code, moving along complex trajectories with defined velocity and acceleration is possible. . For example, the Hexapod system can move a workpiece or tool jerk-controlled and with high precision during machining without the mechanical system starting to vibrate.

Mobile Devices

Mobile Devices

Mobile Control of the PI Hexapods with PITouch

The Hexapod system can also be controlled wirelessly from mobile Apple iOS devices. A corresponding app enables command control via a touch screen, motion sensors or via a command input window with the expected precision .

Hexapod Workspace Simulation Software
The simulation software graphically displays the position and the available work space of the Hexapod model
Veri Move Collision Test

General Information on the PI Motion Control Software at:

Downloads

Downloads

application/pdf Technology Software from PI
Effective and Comfortable Solutions
pdf 449 kB 12/05/23.0