Steps of 40 nm in X, Y, and 20 nm in Z ensure that the H-840.G2IHP meets the highest demands of 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.
PIVirtualMove
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.
| Motion | H-840.G2IHP | Tolerance |
|---|---|---|
| Active axes | X ǀ Y ǀ Z ǀ θX ǀ θY ǀ 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 |
| 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. |
| 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. |
| 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. |
| Integrated sensor | Incremental rotary encoder | |
| Drive Properties | H-840.G2IHP | Tolerance |
| Drive type | Brushless DC gear motor | |
| Nominal voltage | 24 V | |
| Mechanical Properties | H-840.G2IHP | Tolerance |
| Maximum load capacity, base plate in any orientation | 10 kg | |
| Maximum load capacity, base plate horizontal | 30 kg | |
| Maximum holding force, base plate in any orientation | 25 N | |
| Maximum holding force, base plate horizontal | 100 N | |
| Overall mass | 12 kg | |
| Material | Aluminum/steel | |
| Miscellaneous | H-840.G2IHP | Tolerance |
| Operating temperature range | -10 to 50 °C | |
| Connector for data transmission | HD D-sub 78 (m) | |
| Connector for supply voltage | M12 4-pole (m) | |
| Recommended controllers / drivers | C-887.5xx |
Connecting cables are not included in the scope of delivery and must be ordered separately.
Ask about customized versions.
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.
Certificate of Registration of Vibratory Apparatus
H-840 Hexapod Microrobot
Ask for a free quote on quantities required, prices, and lead times or describe your desired modification.
High-precision hexapod microrobot; minimum incremental motion X,Y 40 nm, minimum incremental motion Z 20 nm, minimum incremental motion θX, θY 0.2 µrad, minimum incremental motion θZ, 0.4 µrad, measurement report included in the scope of delivery; brushless DC gear motor; incremental rotary encoder; 30 kg load capacity; 2.5 mm/s velocity. Connecting cables are not in the scope of delivery and must be ordered separately.
