Precision-class 6-axis positioning system
Parallel-kinematic design for 6 degrees of freedom, making it significantly more compact and stiff than serial-kinematic systems, higher dynamics, no moved cables: higher reliability, reduced friction. Compact due to folded drive design. Suitable for vacuum environments to 10-6 hPa.
PIVirtualMove
The simulation software simulates the limits of the workspace and payload of a hexapod. Therefore, even before purchasing, you can check whether a particular hexapod model can handle the loads, forces, and torques occurring in an application. For this purpose, the simulation tool takes the position and motion of the hexapod as well as the pivot point and several reference coordinate systems into account.
Application fields
Industry and research. For micromanipulation, biotechnology, semiconductor manufacturing
| Motion | H-824.D2V | H-824.G2V | Tolerance |
|---|---|---|---|
| Active axes | X ǀ Y ǀ Z ǀ θX ǀ θY ǀ θZ | X ǀ Y ǀ Z ǀ θX ǀ θY ǀ θZ | |
| Travel range in X | ± 22.5 mm | ± 22.5 mm | |
| Travel range in Y | ± 22.5 mm | ± 22.5 mm | |
| Travel range in Z | ± 12.5 mm | ± 12.5 mm | |
| Rotation range in θX | ± 7.5 ° | ± 7.5 ° | |
| Rotation range in θY | ± 7.5 ° | ± 7.5 ° | |
| Rotation range in θZ | ± 12.5 ° | ± 12.5 ° | |
| Maximum velocity in X | 12.5 mm/s | 0.5 mm/s | |
| Recommended velocity in X | 5 mm/s | 0.2 mm/s | |
| Maximum velocity in Y | 12.5 mm/s | 0.5 mm/s | |
| Recommended velocity in Y | 5 mm/s | 0.2 mm/s | |
| Maximum velocity in Z | 12.5 mm/s | 0.5 mm/s | |
| Recommended velocity in Z | 5 mm/s | 0.2 mm/s | |
| Maximum angular velocity in θX | 135 mrad/s | 5.5 mrad/s | |
| Recommended angular velocity in θX | 28 mrad/s | 2.3 mrad/s | |
| Maximum angular velocity in θY | 135 mrad/s | 5.5 mrad/s | |
| Recommended angular velocity in θY | 28 mrad/s | 2.3 mrad/s | |
| Maximum angular velocity in θZ | 135 mrad/s | 5.5 mrad/s | |
| Recommended angular velocity in θZ | 28 mrad/s | 2.3 mrad/s | |
| Positioning | H-824.D2V | H-824.G2V | Tolerance |
| Minimum incremental motion in X | 2 µm | 0.3 µm | typ. |
| Minimum incremental motion in Y | 2 µm | 0.3 µm | typ. |
| Minimum incremental motion in Z | 1 µm | 0.3 µm | typ. |
| Minimum incremental motion in θX | 12 µrad | 3.5 µrad | typ. |
| Minimum incremental motion in θY | 12 µrad | 3.5 µrad | typ. |
| Minimum incremental motion in θZ | 14 µrad | 3.5 µrad | typ. |
| Unidirectional repeatability in X | ± 0.5 µm | ± 0.4 µm | typ. |
| Unidirectional repeatability in Y | ± 0.5 µm | ± 0.4 µm | typ. |
| Unidirectional repeatability in Z | ± 0.15 µm | ± 0.1 µm | typ. |
| Unidirectional repeatability in θX | ± 3 µrad | ± 2 µrad | typ. |
| Unidirectional repeatability in θY | ± 3 µrad | ± 2 µrad | typ. |
| Unidirectional repeatability in θZ | ± 2.5 µrad | ± 3 µrad | typ. |
| Backlash in X | 3 µm | 5 µm | typ. |
| Backlash in Y | 3 µm | 5 µm | typ. |
| Backlash in Z | 1.5 µm | 1.5 µm | typ. |
| Backlash in θX | 20 µrad | 30 µrad | typ. |
| Backlash in θY | 20 µrad | 30 µrad | typ. |
| Backlash in θZ | 60 µrad | 45 µrad | typ. |
| Drive Properties | H-824.D2V | H-824.G2V | Tolerance |
| Drive type | DC motor | DC gear motor | |
| Nominal voltage | 24 V | 24 V | |
| Mechanical Properties | H-824.D2V | H-824.G2V | Tolerance |
| Stiffness in X | 1.7 N/µm | 1.7 N/µm | |
| Stiffness in Y | 1.7 N/µm | 1.7 N/µm | |
| Stiffness in Z | 7 N/µm | 7 N/µm | |
| Maximum load capacity, base plate in any orientation | 1.25 kg | 2.5 kg | |
| Maximum load capacity, base plate horizontal | 2.5 kg | 5 kg | |
| Maximum holding force, base plate in any orientation | 5 N | 25 N | |
| Maximum holding force, base plate horizontal | 15 N | 50 N | |
| Overall mass | 8 kg | 8 kg | |
| Material | Aluminum | Aluminum | |
| Miscellaneous | H-824.D2V | H-824.G2V | Tolerance |
| Operating temperature range | -10 to 50 °C | -10 to 50 °C | |
| Vacuum class | 10⁻⁶ ǀ hPa | 10⁻⁶ ǀ hPa | |
| Maximum bakeout temperature | 80 °C | 80 °C | |
| Connector for data transmission | HD D-sub 78 (m) | HD D-sub 78 (m) | |
| Connector for supply voltage | LEMO | LEMO | |
| Cable length | 2 m | 2 m | |
| Recommended controllers/drivers | C-887.5x | C-887.5x |
Air-side connecting cables are not included in the scope of delivery and must be ordered separately.
Ask about customized versions.
With continuous operation in a vacuum, heat generation may necessitate limiting the operating parameters.
When measuring position specifications, typical velocity is used. The data is included in the delivery of the product in the form of a measurement report and is stored at PI.
The maximum travel ranges of the individual coordinates (X, Y, Z, θX, θY, θZ) are interdependent. The data for each axis shows its maximum travel range when all other axes are in the zero position of the nominal travel range and the default coordinate system is in use, or rather when the pivot point is set to 0,0,0.
At PI, technical data is specified at 22 ±3 °C. Unless otherwise stated, the values are for unloaded conditions. Some properties are interdependent. The designation "typ." indicates a statistical average for a property; it does not indicate a guaranteed value for every product supplied. During the final inspection of a product, only selected properties are analyzed, not all. Please note that some product characteristics may deteriorate with increasing operating time.
H-824 Compact Microrobot
Ask for a free quote on quantities required, prices, and lead times or describe your desired modification.
Compact hexapod; direct drive; 2.5 kg payload; 12.5 mm/s maximum velocity; D-sub connector; vacuum-compatible to 10-6 hPa; cable set 2 m vacuum side; feedthrough. Air-side connecting cables are not included in the scope of delivery and must be ordered separately.
Compact hexapod; gearhead; 5 kg payload; 0.5 mm/s maximum velocity; D-sub connector; vacuum-compatible to 10-6 hPa; cable set 2 m vacuum side; feedthrough. Air-side connecting cables are not included in the scope of delivery and must be ordered separately.
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PI offers high-precision drives for use as EtherCAT slave, or integrates with ACS Motion Controllers as Master, or 2nd Master in an existing architecture.
Careful handling, adequate premises: PI does not only have the necessary equipment for the qualification of materials, components and final products, but also has many years of experience with regard to HV und UHV positioning systems.
Hexapods are systems for moving and positioning loads in six degrees of freedom, in three translational and three rotational axes.
At Diamond Light Source, UK, beamline I07 is a high-resolution X-ray diffraction beamline dedicated to investigate the structure of surfaces and interfaces.
Sample Manipulators in High-Vacuum
At DESY in Hamburg, the P05 Imaging Beamline is operated by the HZG.
