Physik Instrumente PI TEC73 Parallel Kinematic Precision Positioning Systems
PI-TEC73-Parallel-Kinematic-Precision-Positioning-Systems Multi-Axis Positioners and Stewart Platforms
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Parallel-Kinematic Precision Positioning Systems Six Axes of Motion with Hexapods and SpaceFAB Compact Positioning System with Six Degrees of Freedom Hexapod platforms are used for moving and precision positioning, aligning and displacing loads in all six degrees of freedom, i.e. three linear and three rotational axes. Hexapods have a parallel-kinematic structure, i.e. the six drives act together on a single moving platform. The length of the single drives can be changed so that the system moves in all six degrees of freedom in space. This special Hexapod design optimizes the overall system stiffness and allows for a large central aperture. Precise Positioning Even of Heavy Loads Depending on their design, Hexapods can position loads from several kg up to several tons in any spatial orientation, in other words independently of the mounting orientation and with submicrometer precision. Advantages over Serial-Kinematic Design Hexapods can be designed considerably more compact than serially stacked multi-axis positioning systems. Since only a single platform, most often provided with a large aperture, is actuated, the moving mass of the Hexapod is significantly smaller. This results in improved dynamics with considerably faster response. Furthermore, cabling is no issue, so that no additional forces and torques reduce the accuracy. In case of stacked systems, the lower axes not only move the mass of the payload but also the mass all other following drives. This reduces the dynamic properties and the total system stiffness. Moreover, the runouts of the individual axes add up to a lower accuracy and repeatability. WWW.PI.WS Cardanic joints of the H-840 Hexapod model Matching Components for High Precision Joints The basis is a zero-backlash structure and carefully selected and matching components. This includes first of all the right material selection, when e.g. thermal effects are to be expected at the place of operation. The motor, if necessary with gearhead, an integrated guiding, the leadscrew/nut unit, as well as the joints for the required load range up to high-resolution position detection in every strut – all these elements determine the achievable precision. Hexapods for precision positioning often have Cardanic joints with two orthogonally arranged axes. This is the optimum combination of two degrees of freedom and the stiffness of the structure. Motors and Drives Ball-and-socket joints PI Hexapods are based on electromechanical drives and are much more accurate than the hydraulic Hexapods known from flight or driving simulators. Precision leadscrew drives or piezo linear motors are used. Most systems are self-locking. Direct-drive Hexapods ensure higher velocities; for industrial use, brushless motors (BLDC) are particularly suitable. Ball-and-socket joints offer more degrees of freedom in a relatively simple design. However, the overall stiffness and precision in case of external loads and torque can suffer. A compensating preload is recommended but requires drives with high output forces such as the NEXLINE® piezomotor drives. If the highest precision and few linear bending displacements and angles are required, flexure joints are recommended. They exhibit neither friction nor backlash and do not require lubricants. The application determines the drive technologies: Hexapods with piezoelectric PiezoWalk® stepping drives are suitable for ultrahigh vacuum applications and can also be operated in very strong magnetic fields. The positioning accuracy of a precision H-824 Hexapod in Z direction over the complete travel range of 25 mm is a few micrometers, and the repeatability is considerably below ±0.1 μm WWW.PI.WS | POSITIONING Headquarters Subsidiaries GERMANY USA (East) & CANADA USA (West) & MEXICO Physik Instrumente (PI) GmbH & Co. KG Auf der Roemerstrasse 1 76228 Karlsruhe Phone +49 721 4846-0 Fax +49 721 4846-1019 info@pi.ws www.pi.ws PI (Physik Instrumente) L.P. Auburn, MA 01501 www.pi-usa.us PI (Physik Instrumente) L.P. Irvine, CA 92620 www.pi-usa.us USA (San Francisco Bay Area) UK & IRELAND PI (Physik Instrumente) L.P. Sausalito, CA 94965 www.pi-usa.us PI (Physik Instrumente) Ltd. Cranfield, Bedford www.physikinstrumente.co.uk ITALY NETHERLANDS Physik Instrumente (PI) S. r. l. Bresso www.pionline.it PI Benelux B.V. Sint-Oedenrode www.pi.ws/benelux FRANCE SPAIN PI France SAS Aix-en-Provence www.pi.ws Micos Iberia S.L. Vilanova i la Geltrú www.pimicos.es PI miCos GmbH Freiburger Strasse 30 79427 Eschbach Phone +49 7634 5057-0 Fax +49 7634 5057-99 info@pimicos.com www.pi.ws PI Ceramic GmbH Lindenstrasse 07589 Lederhose Phone +49 36604 882-0 Fax +49 36604 882-4109 info@piceramic.com www.piceramic.com JAPAN PI Japan Co., Ltd. Tokyo www.pi-japan.jp PI Japan Co., Ltd. Osaka www.pi-japan.jp CHINA © Physik Instrumente (PI) GmbH & Co. KG All contents, including texts, graphics, data etc., as well as their layout, are subject to copyright and other protective laws. Any copying, modification or redistribution in whole or in parts is subject to a written permission of PI. Although the information in this document has been compiled with the greatest care, errors cannot be ruled out completely. Therefore, we cannot guarantee for the information being complete, correct and up to date. Illustrations may differ from the original and are not bind ing. PI reserves the right to supplement or change the information provided without prior notice. Physik Instrumente (PI Shanghai) Co., Ltd. Shanghai www.pi-china.cn Physik Instrumente (PI Shanghai) Co., Ltd. Beijing www.pi-china.cn SOUTHEAST ASIA TAIWAN PI (Physik Instrumente) Singapore LLP Singapore www.pi-singapore.sg For ID / MY / PH / SG / TH / VNM Physik Instrumente (PI) Taiwan Ltd. Taipei www.pi-taiwan.com.tw KOREA PI Korea Ltd. Seoul www.pikorea.co.kr WWW.PI.WS TEC73 Parallel-Kinematic Precision Positioning Systems 10/2017 Subject to change without notice. © Physik Instrumente (PI) GmbH & Co. KG 2017 MOTION
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