3 Product Description
H-845 Hexapod System
MS222E
Version: 2.1.1
21
3.5 Technical Features
3.5.1 Struts
The hexapod has six adjustable-length struts. Each strut carries out linear motions.
Each set of settings of the six struts defines a position of the motion platform in six
degrees of freedom (three translational axes and three rotational axes).
Each strut is equipped with the following components:
One actuator
Reference and limit switches
Joints for connecting to the base plate and motion platform
The actuator contains the following components:
Brushless DC motor with rotary encoder
Brake
Drive screw
3.5.2 Reference Point Switch and Limit Switches
The reference point switch of a strut functions independently of the angular positions
of the strut ends and the lengths of the other struts.
When a limit switch is activated, the power source of the motor is switched off to
protect the hexapod against damage from malfunctions.
3.5.3 Brakes
The brakes of the struts are activated by default. The brakes are deactivated only
when the servo mode is switched on for the axes of the motion platform. For more
information refer to “Starting Up the Hexapod System” on p. 45.
3.5.4 Control
The hexapod is intended for operation with the hexapod controller which is delivered
with the hexapod. The hexapod controller makes it possible to command motion of
individual axes, combinations of axes or all six axes at the same time in a single
motion command. For the supported commands, see the MS244E user manual and
the C887T0007 technical note.
The hexapod controller calculates the settings for the individual struts from the target
positions given for the translational and rotational axes. The velocities and
accelerations of the struts are calculated in such a way that all struts start and stop at
the same time.
