H-845 High-Load Hexapod

Positioning up to 1 Ton with Micrometer Precision

PI H-845
Load capacity to 1000 kg
Velocity to 50 mm/s
Repeatability to ±0.5 µm
Travel ranges to 340 mm / 60°
Scalable design: Dimensions, travel ranges and loads
Drive: brushless motors with brake

Reference-class 6-axis positioning system

Parallel-kinematic design for six degrees of freedom making it significantly more compact and stiff than serial-kinematic systems, higher dynamic range, no moved cables: Higher reliability, reduced friction. Large clear aperture

Brushless DC motors with brakes

 

Rapid implementation of customer requests

The high-load Hexapod has a modular structure and uses a set of different modules for drive unit and joint. The platforms can be adapted to the customer's application. This allows for rapid implementation of special customer requirements

 

Powerful digital controller, open software architecture

6D vector motion controller for Hexapods, plus two additional servo axes. Arbitrary, stable pivot point, software-selectable. Positions commanded in Cartesian coordinates. Macro command language. Open-source LabVIEW driver and libraries. Determination of the workspace. Virtual machine for Hexapod emulation. Optional: Software for avoiding collisions in restricted workspace

 

Fields of application

Research and industry. For precision assembly, astronomy, aviation and aerospace


H-845.D11

H-845.D21

H-845.D31

H-845.D41

H-845.D51

H-845.D61

Unit

Tolerance

Active axes

X, Y, Z, θX, θY, θZ X, Y, Z, θX, θY, θZ X, Y, Z, θX, θY, θZ X, Y, Z, θX, θY, θZ X, Y, Z, θX, θY, θZ X, Y, Z, θX, θY, θZ


Motion and positioning

Travel range* X, Y

±110

±170

±110

±170

±110

±170

mm

Travel range* Z

±50

±105

±50

±105

±50

±105

mm

Travel range* θX, θY

±15

±20

±15

±20

±15

±20

°

Travel range* θZ

±30

±30

±30

±30

±30

±30

°

Single-actuator design resolution

0.04

0.04

0.08

0.08

0.1

0.1

µm

Min. incremental motion X, Y

1

1

2

2

2.5

2.5

µm

typ.

Min. incremental motion Z

0.5

0.5

1

1

1

1

µm

typ.

Min. incremental motion θX, θY, θZ

15

15

30

30

30

30

µrad

typ.

Backlash X, Y

5

5

10

10

10

10

µm

typ.

Backlash Z

1

1

2

2

2

2

µm

typ.

Backlash θX, θY

15

15

30

30

30

30

µrad

typ.

Backlash θZ

30

30

60

60

60

60

µrad

typ.

Repeatability X, Y

±2

±2

±4

±4

±5

±5

µm

typ.

Repeatability Z

±0.5

±0.5

±1

±1

±2

±2

µm

typ.

Repeatability θX, θY, θZ

±10

±10

±20

±20

±25

±25

µrad

typ.

Max. velocity X, Y, Z

20

20

40

40

50

50

mm/s

Max. velocity θX, θY, θZ

50

50

100

100

120

120

mrad/s

Typ. Velocity X, Y, Z

10

10

20

20

25

25

mm/s

Typ. Velocity θX, θY, θZ

20

20

40

40

50

50

mrad/s


Mechanical properties

Load (base plate horizontal / any orientation)

1000 / 300

1000 / 300

500 / 150

500 / 150

400 / 120

400 / 120

kg

max.

Motor type

Brushless DC motor

Brushless DC motor

Brushless DC motor

Brushless DC motor

Brushless DC motor

Brushless DC motor


Miscellaneous

Operating temperature range

-10 to 50

-10 to 50

-10 to 50

-10 to 50

-10 to 50

-10 to 50

°C

Material

Aluminum

Aluminum

Aluminum

Aluminum

Aluminum

Aluminum

Mass

120

150

120

150

120

150

kg

±5 %

Cable length

9

9

9

9

9

9

m

±10 mm


Controller

Included in delivery

C-887

C-887

C-887

C-887

C-887

C-887

Technical data specified at 20 ±3 °C.

Ask about custom designs!

* The travel ranges of the individual coordinates (X, Y, Z, θX, θY, θZ) are interdependent. The data for each axis in this table shows its maximum travel, where all other axes are at their zero positions. If the other linear or rotational coordinates are not zero, the available travel may be less.

Drawings / Images

PI H-845
PI H-845.D11 Drawing
PI H-845 Drawing
H-845.D11
High-Load Hexapod for 1000 kg Load, Travel Ranges ±110 mm (X, Y), ±50 mm (Z), Max. Velocity 20 mm/s. Cable Set 9 m, with 6D Controller for Hexapods, plus Two Additional Servo Axes, TCP/IP and RS-232 Interface
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H-845.D21
High-Load Hexapod for 1000 kg Load, Travel Range ±190 mm (X, Y), ±105 mm (Z), Max. Velocity 20 mm/s. Cable Set 9 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface
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H-845.D31
High-Load Hexapod for 500 kg Load, Travel Ranges ±110 mm (X, Y), ±50 mm (Z), Max. Velocity 40 mm/s. Cable Set 9 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface
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H-845.D41
High-Load Hexapod for 500 kg Load, Travel Ranges ±170 mm (X, Y), ±105 mm (Z), Max. Velocity 40 mm/s. Cable Set 9 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface
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H-845.D51
High-Load Hexapod for 400 kg Load, Travel Range ±110 mm (X, Y), ±50 mm (Z), Max. Velocity 50 mm/s. Cable Set 9 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface
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H-845.D61
High-Load Hexapod for 1000 kg Load, Travel Ranges ±170 mm (X, Y), ±105 mm (Z), Max. Velocity 50 mm/s. Cable Set 9 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface
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Ask about custom designs!

Downloads

Datasheet

pdf
pdf

PI Datasheet H-845

High-Load-Hexapod Positioning up to Ton with Micrometer Precision
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pdf - 803 KB
pdf - 801 KB

Documentation

pdf

User Manual MS222

H-845 Modular Hexapod System
2.0.2
English
pdf - 2 MB

3D Models

zip

H-845 STEP

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All
zip - 27 MB