High-precision hexapod microrobot, minimum incremental motion X,Y 40 nm, minimum incremental motion Z 20 nm,
H-840.G2IHP 6-Axis Hexapod
Inexpensive and High Precision
- Up to 20 nanometer steps
- Load capacity to 40 kg
- Travel ranges to ±50 mm / ±30°
- Repeatability to ±0.1 µm
- BLDC motors
- Works in any orientation
Steps of 40 nm in X, Y, and 20 nm in Z ensure that the H-840.G2IHP meets the highest demands on alignment and positioning applications in production and measuring technology. As with the entire H-840 hexapod series, the design and layout is robust and provides long travel ranges for more task flexibility.
A measurement report on the step size is included in each single shipment.
Further variants, e.g., with absolute encoder or for high dynamics, are listed in the datasheet for the H-840.
The parallel-kinematic design for six degrees of freedom makes it significantly more compact and stiffer than comparable serial kinematic systems. The 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 which 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.
PI Hexapod Simulation Tool
The simulation software simulates the limits of the workspace and load capacity 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 tool inspection, life science, micromanufacturing, micromanipulation, industrial alignment systems. For assembly, alignment, and inspection of optical components.
Specifications
Specifications
Motion | H-840.G2IHP | Tolerance |
---|---|---|
Active axes | X Y Z θX θY θZ | |
Travel range in X | ± 50 mm | |
Travel range in Y | ± 50 mm | |
Travel range in Z | ± 25 mm | |
Rotation range in θX | ± 15 ° | |
Rotation range in θY | ± 15 ° | |
Rotation range in θZ | ± 30 ° | |
Maximum velocity in X | 2.5 mm/s | |
Maximum velocity in Y | 2.5 mm/s | |
Maximum velocity in Z | 2.5 mm/s | |
Maximum angular velocity in θX | 30 mrad/s | |
Maximum angular velocity in θY | 30 mrad/s | |
Maximum angular velocity in θZ | 30 mrad/s | |
Typical velocity in X | 2 mm/s | |
Typical velocity in Y | 2 mm/s | |
Typical velocity in Z | 2 mm/s | |
Typical angular velocity in θX | 25 mrad/s | |
Typical angular velocity in θY | 25 mrad/s | |
Typical angular velocity in θZ | 25 mrad/s | |
Positioning | H-840.G2IHP | Tolerance |
Integrated sensor | Incremental rotary encoder | |
Unidirectional repeatability in X | ± 0.3 µm | typ. |
Unidirectional repeatability in Y | ± 0.3 µm | typ. |
Unidirectional repeatability in Z | ± 0.1 µm | typ. |
Unidirectional repeatability in θX | ± 2.5 µrad | typ. |
Unidirectional repeatability in θY | ± 2.5 µrad | typ. |
Unidirectional repeatability in θZ | ± 3 µrad | typ. |
Minimum incremental motion in X | 0.04 µm | typ. |
Minimum incremental motion in Y | 0.04 µm | typ. |
Minimum incremental motion in Z | 0.02 µm | typ. |
Minimum incremental motion in θX | 0.2 µrad | typ. |
Minimum incremental motion in θY | 0.2 µrad | typ. |
Minimum incremental motion in θZ | 0.4 µrad | typ. |
Backlash in X | 2 µm | typ. |
Backlash in Y | 2 µm | typ. |
Backlash in Z | 0.3 µm | typ. |
Backlash in θX | 5 µrad | typ. |
Backlash in θY | 5 µrad | typ. |
Backlash in θZ | 10 µrad | typ. |
Drive Properties | H-840.G2IHP | Tolerance |
Drive type | Brushless DC gear motor | |
Nominal voltage | 24 V | |
Mechanical Properties | H-840.G2IHP | Tolerance |
Maximum holding force, base plate in any orientation | 25 N | |
Maximum holding force, base plate horizontal | 100 N | |
Maximum load capacity, base plate in any orientation | 15 kg | |
Maximum load capacity, base plate horizontal | 40 kg | |
Overall mass | 12 kg | |
Material | Aluminum/steel | |
Miscellaneous | H-840.G2IHP | Tolerance |
Connector for supply voltage | M12 4-pin (m) | |
Recommended controllers / drivers | C-887.5xx | |
Operating temperature range | -10 to 50 °C | |
Connector for data transmission | HD D-sub 78-pin (m) |
Technical data specified at 22±3 °C.
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.
Connecting cables are not included in the scope of delivery and must be ordered separately.
Ask about customized versions.
Downloads
Product Note
Product Change Notification Motor Driven Products
Datasheet
Documentation
PI Certificate of Registration of Vibratory Apparatus H-840
Certificate of Registration of Vibratory Apparatus
User Manual MS201
H-840 Hexapod Microrobot
3-D Models
H-840.X2X 3D Model
Software Files
Hexapod Simulation Tool
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Applications
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.