Hexapod

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Six Degrees of Freedom Motion Platform for Advanced Research

The Hexapod is a six degrees of freedom parallel robotic motion platform capable of moving heavy loads (up to 100 kg) at high acceleration, within a small workspace. The smart mechanical design, along with accurate and stiff machined components make this robot an excellent test bed for cutting-edge research in a wide range of areas, including vibration isolation, structural dynamics, immersive simulations and rehabilitation.

Unlike most commercially available stewart platforms, the Hexapod is driven by superior electrical motors which make this 6 DOF motion platform precise, responsive and low-maintenance.

Create a Configuration That Suits Your Needs

For experiments of increased complexity, the Hexapod surface can accommodate various structures, such as Quanser 1 Floor and 2 Floor Active Mass Dampers.

How It Works

The Hexapod, comprised of a six linear ball-screw actuators, is driven by six DC motors. The ball-screw is based on a high-quality, low backlash linear guide with a total travel of 30 cm (i.e. ± 15 cm) and is driven by a high torque direct drive motor. All six arms of the platform meet at a flat rectangular base, the end-effector of the robot. A revolute joint fastens the arms to each motor. For maximum safety, a motor brake control employs the Hexapod’s brakes when the joints reach their limit. This ensures the powerful motors do not damage the device or the load it carries. Motor position feedback for all six motors is provided by optical encoders that measure the angular position of the motor shaft. An optional six axes ATI force/torque sensor can be installed on the end-effector to capture measurements of forces and torques along all degrees of freedom.

The Hexapod is controllable through seamless integration of QUARC® and MATLAB®/Simulink®. Using Quanser’s novel data acquisition technology, users can interface to Hexapod through a USB connection, while maintaining a high real-time performance.

Note: The Hexapod is not available for purchase in USA, Japan and Taiwan. For details please contact us at info@quanser.com

  • High precision ball screw mechanism
  • High performance built-in amplifier
  • High-resolution optical encoders to measure the joint angles
  • Easy interface through universal USB connection
  • Optional six DOF force/torque sensor
  • Easy integration of third party structures, sensors and actuators
  • Safety brake logic circuit and built-in mechanical brakes
  • Built-in software safety watchdog
  • Precise, stiff, robust and heavy-duty machine components
  • Fully compatible with MATLAB®/Simulink®
  • Fully documented system models and parameters provided for MATLAB®, Simulink®
  • Open architecture design allows users to design their own controller
Dimensions 1.1 m x 1.1 m x 0.75 m
Mass 100 kg
Platform radius 25 cm
Arm length 37.5 cm
Maximum payload 100 kg
Workspace¹ ± 13 cm (x), ± 7.5 cm (y), ± 7.5 cm (z)
± 20 deg (roll), ± 23 deg (pitch), ± 27 deg (yaw)
Maximum joint speed² 0.67 m/s
Maximum acceleration² 1 g
Operational bandwidth² 0 – 10 Hz
Lead screw pitch 1 cm/rev
Actuator maximum force 403 N
Actuator travel ± 15 cm
Encoder resolution (in quadrature) 10,000 cont/rev

¹ Assuming other five DOFs held at home position.
² Please contact Quanser for full operational bandwidth specifications.

The Hexapod is designed primarily for research applications. Currently, no courseware material for teaching labs is provided by Quanser.

To set up your Hexapod workstation, you need additional components. Quanser engineers recommend:

for MATLAB®/Simulink® users  
QUARC real-time control software

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