JORAN | High Payload Hexapod

Payload

1500 kg

Linear travel range

± 65 mm

Angular travel range

± 3 °

Linear/angular resolution

0.1 µm / 0.5 µrad

Height middle position

800 mm

Vacuum / Cryo / Cleanroom

No / No / No

PRECISION POSITIONING HEXAPOD WITH HIGH STABILITY

JORAN hexapod is a high precision system designed to position and adjust elements with a 0.5 µrad angular resolution.

The conception of JORAN, particularly of its actuators, spherical joints and natural granite platforms, ensures great stability and guarantees the positioning quality over time.

Ceramic spherical joints can be replaced by universal joints if the angular travel range is too large or if external forces are too big.

Developed in collaboration with the European Synchrotron ESRF, it is ideal to support mirrors or vacuum chambers on synchrotrons beamlines.

Granite platforms can be replaced by steel platforms if preferred.

OPTIONS

High Vacuum
Cleanroom ISO5

A HIGH-PERFORMANCE CONTROL CENTER

Controlling a parallel kinematics mechanism such as a hexapod requires fast and numerous calculations to transform the position instructions into motor current set points while permanently securing the motions.

For this, all our hexapods come with a high-performance control rack interacting with either our Graphical User Interface (GUI) or optionally directly with your software environment through an Application Programming Interface (API).

A COMPLETE AND FLEXIBLE SOLUTION

Our racks are made with:

■ a powerful multi-axis Delta Tau industrial controller
■ drivers sized to meet the needs of each application
■ input-output modules allowing various interactions with the hexapod environment.

Our robust and flexible controller solutions can be adapted to different types of motors (DC, brushless, stepper) coupled to various encoder technologies (absolute, incremental, linear, rotary).

Our controllers are compatible with our hand-held control unit in option.

CHOOSING THE RIGHT HEXAPOD FOR YOU

Symetrie offers a free software, HexaSym, that makes it very easy for you to check the possible travels and load capacities of each hexapod in their range. HexaSym will allow you to select the most suitable product for your application and to test a variety of possible configurations with it.

Click HERE to download HexaSym

Want to learn more about Hexapods? Visit our application page HERE.

Motion & Positioning
	JORAN BJ	JORAN UJ
	Ball Joints	Universal Joints
Travel range Tx, Ty (mm)	± 75	± 170
Travel range Tz (mm)	± 50	± 100
Travel range Rx, Ry (deg)	± 5	± 10
Travel range Rz (deg)	± 8	± 18
Resolution Tx, Ty, Tz (µm)	0.1	0.1
Resolution Rx, Ry, Rz (µrad)	0.5	0.5
Repeatability Tx, Ty, Tz (µm)	± 0.25	± 0.25
Repeatability Rx, Ry, Rz (µrad)	± 1	± 1
Speed Tx, Ty (mm/s)	0.6	0.6
Speed Tz (mm/s)	0.4	0.4
Speed Rx, Ry (deg/s)	0.045	0.045
Speed Rz (deg/s)	0.07	0.07

Mechanical Properties
Payload capacity (kg) (vertical orientation / horizontal orientation)	1500
Motor type	Stepper motor
Encoder type	Absolute linear encoders

Controller
Controller type	ALPHA+
Interface	Ethernet
Power supply	110-240 VAC / 50-60 Hz

Miscellaneous
Operating temperature range (°C)	0 to + 50
Size mobile platform (mm)	Ø 1300
Materials	Aluminum, steel, stainless steel, ceramic
Footprint (mm)	Ø 1300
Height in middle position (mm)	750
Mass (kg)	515
Cable length (m)	5
Options	Customized platform design, Absolute encoders, Adjustable height, Heavier payload
Diameter	1300 mm

Astronomy
Optics
Research & Engineering
Synchrotron
Space

JORAN Hexapod – Berkeley. Customized JORAN hexapod for extra rotation and a 3.2T payload
JORAN hexapod at LBL. Customized JORAN hexapod for a 3.2T payload for qRIXS experiments
JORAN hexapod customized for loads of 3,2 tons for qRIXS experiences
Customized JORAN hexapod for a EUV lithography beamline
JORAN hexapod for EUV lithography. Customized JORAN hexapod for an EUV beamline.
JORAN Hexapod – ESRF
JORAN hexapod on FAME beamline at ESRF synchrotron
JORAN Hexapod – La Trobe University. Australian Synchrotron
JORAN hexapod for a Compton X-ray source. Made for LAL. Payload: 1 ton, in addition to the 5 tons granite platform
JORAN hexapod installation on the telescope INAOE
JORAN hexapod at PSI
JORAN hexapode on L-shaped support

Data Sheet and Brochures

JORAN Data Sheet

Alpha Controller Data Sheet

Positioning Hexapods Catalog

STEP 3D

JORAN STEP 3D File

Publication – Poster ESRF SRI JORAN Hexapod

Publication – TNO EBL2 EUV Exposure facility

Publication – Poster Soleil and Symetrie collaboration using Tango

Publication – Paper Soleil and Symetrie collaboration using Tango

Publication – Paper JORAN hexapod on THOMX project

HELP FOR HEXAPOD CONTROL

Thanks to an ergonomic Human Machine Interface (HMI), SYM_Positioning hexapod positioning and control software offers simple commands from the home screen, but also generations of movements using specific files. In addition, the center of rotation can be easily changed in the software.

SYM_POSITIONING ALLOWS:

■ Safe movement control
■ Position display in real time
■ Generate position sequences
■ The configuration of the center of rotation
■ Configure repositories (coordinate systems)
■ Configuration of limits (position, speed …)
■ API (Application Programming Interface)
■ To be interfaced in C, LabVIEW, EPICS, SPEC, TANGO, Python, Matlab …

CUSTOMIZATION

Symétrie has the knowledge and solid experience in software development, which means that we can tailor our software to your specific needs.

HEXASYM SIMULATOR

HOW TO CHOOSE YOUR HEXAPOD?

Thanks to this free simulation software, it will be very easy for you to check the possible travels and load capacities of each hexapod in our range. HexaSym will allow you to select the most suitable product for your application and to test a variety of possible configurations with it.

TESTING SEVERAL PARAMETERS

With HexaSym simulator, you can test cumulative travel ranges on several axes simultaneously, including the “worst cases” of your applications. It is also possible to change the center of rotation, to define different reference frames, to vary the orientation of the hexapod (vertical, horizontal, other) and the payload.
HexaSym also includes a 3D visualization that will enable you to see how the hexapod moves according to the commanded positions, as well as sliders allowing you to control movements more immediately.

AND FOR SPECIFIC HEXAPODS

It will also be possible to use HexaSym for our specific hexapods, for which we will provide you with a configuration file compatible with the simulator.

Click here for more information and download the software

Description
Additional information

PRECISION POSITIONING HEXAPOD WITH HIGH STABILITY

JORAN hexapod is a high precision system designed to position and adjust elements with a 0.5 µrad angular resolution.

The conception of JORAN, particularly of its actuators, spherical joints and natural granite platforms, ensures great stability and guarantees the positioning quality over time.

Ceramic spherical joints can be replaced by universal joints if the angular travel range is too large or if external forces are too big.

Developed in collaboration with the European Synchrotron ESRF, it is ideal to support mirrors or vacuum chambers on synchrotrons beamlines.

Granite platforms can be replaced by steel platforms if preferred.

SPECIFICATIONS

Travel range: ± 65 mm / ± 3 °
Resolution: 0.1 µm / 0.5 µrad
Repeatability: ± 0.25 µm / ± 1 µrad
Payload: 1500 kg

OPTIONS

High Vacuum
Cleanroom ISO5

APPLICATIONS

Astronomy
Optics
Research & Engineering
Synchrotron
Space

Manufacturer’s website: www.symetrie.fr/en

For more large hexapods, https://www.axiomoptics.com/positioning-hexapods/

A HIGH-PERFORMANCE CONTROL CENTER

For this, all our large hexapods come with a high-performance control rack interacting with either our Graphical User Interface (GUI) or optionally directly with your software environment through an Application Programming Interface (API).

A COMPLETE AND FLEXIBLE SOLUTION

Our racks are made with:

■ a powerful multi-axis Delta Tau industrial controller
■ drivers sized to meet the needs of each application
■ input-output modules allowing various interactions with the hexapod environment.

Our robust and flexible controller solutions can be adapted to different types of motors (DC, brushless, stepper) coupled to various encoder technologies (absolute, incremental, linear, rotary).

Our controllers are compatible with our hand-held control unit in option.

CHOOSING THE RIGHT HEXAPOD FOR YOU

Symetrie offers a free software, HexaSym, that makes it very easy for you to check the possible travels and load capacities of each large hexapod in their range. HexaSym will allow you to select the most suitable product for your application and to test a variety of possible configurations with it.

Click HERE to download HexaSym

Want to learn more about Hexapods? Visit our application page HERE.

Max vertical payload (kg)	>1,000 kg Max Payload
Vacuum compatible	Vacuum Compatible
Linear travel range (mm)	± 50 to ± 100 mm Linear Travel Range
Angular travel range (º)	< ± 10º mm Angular Travel Range
Hexapod Diameter	> 1000 mm Diameter

JORAN | High Payload Hexapod

PRECISION POSITIONING HEXAPOD WITH HIGH STABILITY

A HIGH-PERFORMANCE CONTROL CENTER

A COMPLETE AND FLEXIBLE SOLUTION

CHOOSING THE RIGHT HEXAPOD FOR YOU

HELP FOR HEXAPOD CONTROL

SYM_POSITIONING ALLOWS:

CUSTOMIZATION

HEXASYM SIMULATOR

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