# H-825 6-Axis Hexapod

## Compact Design, for Loads to 30 kg

- Load capacity to 30 kg, self-locking
- Travel ranges to ±27.5 mm, rotation range to ±11.5°
- Minimum incremental motion to 0.25 µm in X, Y, and Z
- Repeatability to ±0.1 µm / ±2 µrad
- BLDC motors and absolute encoders

Parallel-kinematic design for six degrees of freedom making it significantly more compact and stiff than serial-kinematic systems, higher dynamic range, no moved cables: Higher reliability, reduced friction.

### Brushless DC motor (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.

### Absolute encoder

Absolute encoders supply explicit position information that enables immediate determination of the position. This means that referencing is not required during switch-on, which increases efficiency and safety during operation.

### PI Hexapod Simulation Tool

The simulation software simulates the limits of the workspace and load capacity of a hexapod. Therefore, even before making a purchase, 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 into account the position and motion of the hexapod as well as the pivot point and several reference coordinate systems.

### Fields of application

Research and industry. For microassembly, biomedical engineering, semiconductor manufacturing, optical alignment.

## Specifications

## Specifications

Motion | H-825.D2A | H-825.G2A | Tolerance |
---|---|---|---|

Active axes | X Y Z θX θY θZ | X Y Z θX θY θZ | |

Travel range in X | ± 27.5 mm | ± 27.5 mm | |

Travel range in Y | ± 25 mm | ± 25 mm | |

Travel range in Z | ± 14 mm | ± 14 mm | |

Rotation range in θX | ± 11.5 ° | ± 11.5 ° | |

Rotation range in θY | ± 10.5 ° | ± 10.5 ° | |

Rotation range in θZ | ± 19 ° | ± 19 ° | |

Maximum velocity in X, unloaded | 25 mm/s | 2.5 mm/s | |

Maximum velocity in Y, unloaded | 25 mm/s | 2.5 mm/s | |

Maximum velocity in Z, unloaded | 25 mm/s | 2.5 mm/s | |

Maximum angular velocity in θX, unloaded | 270 mrad/s | 27 mrad/s | |

Maximum angular velocity in θY, unloaded | 270 mrad/s | 27 mrad/s | |

Maximum angular velocity in θZ, unloaded | 270 mrad/s | 27 mrad/s | |

Typical velocity in X, unloaded | 20 mm/s | 2 mm/s | |

Typical velocity in Y, unloaded | 20 mm/s | 2 mm/s | |

Typical velocity in Z, unloaded | 20 mm/s | 2 mm/s | |

Typical angular velocity in θX, unloaded | 55 mrad/s | 5.5 mrad/s | |

Typical angular velocity in θY, unloaded | 55 mrad/s | 5.5 mrad/s | |

Typical angular velocity in θZ, unloaded | 55 mrad/s | 5.5 mrad/s | |

Positioning | H-825.D2A | H-825.G2A | Tolerance |

Unidirectional repeatability in X | ± 0.5 µm | ± 0.5 µm | typ. |

Unidirectional repeatability in Y | ± 0.5 µm | ± 0.25 µm | typ. |

Unidirectional repeatability in Z | ± 0.15 µm | ± 0.1 µm | typ. |

Unidirectional repeatability in θX | ± 2 µrad | ± 2 µrad | typ. |

Unidirectional repeatability in θY | ± 1.5 µrad | ± 2 µrad | typ. |

Unidirectional repeatability in θZ | ± 3 µrad | ± 2.5 µrad | typ. |

Minimum incremental motion in X | 1 µm | 0.3 µm | typ. |

Minimum incremental motion in Y | 1 µm | 0.3 µm | typ. |

Minimum incremental motion in Z | 0.5 µm | 0.25 µm | typ. |

Minimum incremental motion in θX | 7 µrad | 3.5 µrad | typ. |

Minimum incremental motion in θY | 7 µrad | 3.5 µrad | typ. |

Minimum incremental motion in θZ | 12 µrad | 4 µrad | typ. |

Backlash in X | 1.5 µm | 3 µm | typ. |

Backlash in Y | 1.5 µm | 3 µm | typ. |

Backlash in Z | 1 µm | 1 µm | typ. |

Backlash in θX | 15 µrad | 20 µrad | typ. |

Backlash in θY | 15 µrad | 20 µrad | typ. |

Backlash in θZ | 25 µrad | 25 µrad | typ. |

Integrated sensor | Absolute rotary encoder, multi-turn | Absolute rotary encoder, multi-turn | |

Drive Properties | H-825.D2A | H-825.G2A | Tolerance |

Drive type | Brushless DC motor | Brushless DC gear motor | |

Mechanical Properties | H-825.D2A | H-825.G2A | Tolerance |

Stiffness in X | 1.7 N/µm | 1.7 N/µm | |

Stiffness in Y | 1.7 N/µm | 1.7 N/µm | |

Stiffness in Z | 7 N/µm | 7 N/µm | |

Maximum holding force, base plate in any horientation | 5 N | 150 N | |

Maximum holding force, base plate horizontal | 10 N | 300 N | |

Maximum load capacity, base plate in any orientation | 7.5 kg | 15 kg | |

Maximum load capacity, base plate horizontal | 15 kg | 30 kg | |

Overall mass | 10 kg | 10 kg | |

Material | Aluminum | Aluminum | |

Miscellaneous | H-825.D2A | H-825.G2A | Tolerance |

Recommended controllers / drivers | C-887.5x | C-887.5x | |

Operating temperature range | -10 to 50 °C | -10 to 50 °C |

### Downloads

### Product Note

### Documentation

### User Manual C887T0017

C-887.5Bxx Drag-chain capable cable sets for connecting H-206 and most H-8xx hexapod standard models to C-887.5xx controller models

### User Manual MS250

H-825 Compact Hexapod Microrobot

### 3-D Models

### H-825.x2x 3-D model

### Software Files

### Hexapod Simulation Tool

Ask for a free quote on quantities required, prices, and lead times or describe your desired modification. All products available online can be ordered directly

## Ask an engineer!

Quickly receive an answer to your question by email or phone from a local PI sales engineer.

### 적용 분야

### 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.