H-840 6-Axis Hexapod
Inexpensive, Precise, and Fast
- CIPA certified
- Load capacity to 40 kg
- Travel ranges to ±50 mm / ±30°
- Repeatability to ±0.1 µm
- BLDC motors and variants with absolute encoders
- Works in any orientation
The H-840 hexapod series is universally applicable for tasks in precision positioning. Some variants are optimized for high dynamics and can for example, be used for simulating motion whereas models with gearhead support are suitable for heavier loads.
The parallel-kinematic design for six degrees of freedom makes it significantly more compact and stiffer than comparable serial kinematic systems. Their advantages over serial, i.e., stacked systems, are mainly the much better path accuracy and repeatability. In addition, the moved mass is lower and allows improved dynamics performance and is the same for all motion axes. Cable management is not a problem because cables are not moved.
Use of brushless DC motors (BLDC)
Brushless DC motors are particularly suitable for high rotational speeds. They can be controlled very accurately and ensure high precision. Because they dispense with sliding contacts, they run smoothly, are wear-free and therefore achieve a long lifetime.
Variants with absolute encoder
Absolute encoders supply explicit position information that enables immediate determination of the position. Therefore, no referencing is necessary when switching on and this increases efficiency and safety during operation.
PI Hexapod Simulation Tool
The simulation software simulates the limits of the workspace and load capacity of a hexapod. Therefore, even before making a purchase, 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 into account the position and motion of the hexapod as well as the pivot point and several reference coordinate systems.
Fields of application
Research and industry. For motion simulation (CIPA certified), tool inspection, life science, micromanufacturing, micromanipulation, industrial alignment systems.
Specifications
Specifications
Motion and positioning | H-840.G2A | H-840.G2I | H-840.D2A | H-840.D2I | Unit | Tolerance |
---|---|---|---|---|---|---|
BLDC gear motor with absolute encoder | BLDC gear motor with incremental rotary encoder | BLDC motor with absolute encoder | BLDC motor with incremental rotary encoder | |||
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 | ||
Travel range* X, Y | ±50 | ±50 | ±50 | ±50 | mm | |
Travel range* Z | ±25 | ±25 | ±25 | ±25 | mm | |
Travel range* θX, θY | ±15 | ±15 | ±15 | ±15 | ° | |
Travel range* θZ | ±30 | ±30 | ±30 | ±30 | ° | |
Minimum incremental motion X, Y | 0.3 | 0.25 | 1.5 | 0.5 | µm | Typ. |
Minimum incremental motion Z | 0.2 | 0.15 | 1 | 0.25 | µm | Typ. |
Minimum incremental motion θX, θY | 2 | 2 | 10 | 3 | µrad | Typ. |
Minimum incremental motion θZ | 4 | 4 | 2 | 5 | µrad | Typ. |
Backlash in X, Y | 2 | 2 | 1.5 | 1.5 | µm | Typ. |
Backlash in Z | 0.3 | 0.3 | 0.2 | 0.2 | µm | Typ. |
Backlash in θX, θY | 5 | 5 | 4 | 4 | µrad | Typ. |
Backlash in θZ | 10 | 10 | 8 | 8 | µrad | Typ. |
Repeatability X, Y | ±0.3 | ±0.3 | ±0.3 | ±0.3 | µm | Typ. |
Repeatability in Z | ±0.1 | ±0.1 | ±0.1 | ±0.1 | µm | Typ. |
Repeatability in θX, θY | ±2.5 | ±2.5 | ±1.5 | ±1.5 | µrad | Typ. |
Repeatability in θZ | ±3 | ±3 | ±3 | ±3 | µrad | Typ. |
Dynamic properties | H-840.G2A | H-840.G2I | H-840.D2A | H-840.D2I | Unit | Tolerance |
---|---|---|---|---|---|---|
Max. velocity in X, Y, Z | 2.5 | 2.5 | 60 | 60 | mm/s | |
Max. velocity in θX, θY, θZ | 30 | 30 | 700 | 700 | mrad/s | |
Typ. Velocity in X, Y, Z | 2 | 2 | 40 | 40 | mm/s | |
Typ. Velocity in θX, θY, θZ | 25 | 25 | 480 | 480 | mrad/s | |
Max. frequency | - | - | 30 | 30 | Hz | |
Amplitude-frequency product in X, Y | - | - | 23.6 | 23.6 | mm·Hz | |
Amplitude-frequency product in Z | - | - | 8 | 8 | mm·Hz | |
Amplitude-frequency product in θX, θY | - | - | 5.1 | 5.1 | °·Hz | |
Amplitude-frequency product in θZ | - | - | 14 | 14 | °·Hz | |
Amplitude-frequency2 product in X, Y | - | - | 65.9 | 65.9 | mm·Hz2 | |
Amplitude-frequency2 product in Z | - | - | 22.5 | 22.5 | mm·Hz2 | |
Amplitude-frequency2 product in θX, θY | - | - | 14.7 | 14.7 | °·Hz2 | |
Amplitude-frequency2 product in θZ | - | - | 41 | 41 | °·Hz2 | |
Amplitude error | - | - | 10 | 10 | % | Max. |
Phase error | - | - | 60 | 60 | ° | Max. |
Downloads
Product Note
Product Change Notification Hexapod Cables
Product Change Notification Motor Driven Products
Product Change Notification H-840.D2, H-840.G2
Product Change Notification H-206.x1x, H-8xx.x1x, H-8xx.xVx, F-206.S
Datasheet
Documentation
User Manual MS201
H-840 Hexapod Microrobot
PI Certificate of Registration of Vibratory Apparatus H-840
Certificate of Registration of Vibratory Apparatus
3-D Models
H-840.x2x 3-D model
Software Files
Hexapod Simulation Tool
Quote / Order
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Data transmission cables in other lengths
Power supply cables in other lengths

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Applications

High Vacuum Positioning
Investigation of the structural properties of thin films under high-vacuum conditions.

Hexapods in Microproduction
What do optical components and glass fibers in photonics, mobile devices, and high-quality wristwatches all have in common?

Dimensional Measuring
Hexapods allow for an outstanding flexibility for a variety of samples of in-line automation systems by minimizing the space for motion robotics.