KUBAN | High Payload Hexapod

Payload

500 kg

Linear travel range

± 25 mm

Angular travel range

± 3 °

Linear/angular resolution

0.2 µm / 1.5 µrad

Height middle position

600 mm

Vacuum / Cryo / Cleanroom

No / No / No

PRECISION POSITIONING HEXAPOD WITH HIGH STABILITY

KUBAN hexapod is a very stable 6DOF system designed to position elements in space with high precision and with a resolution of 1.5 µrad.

The configuration and the integration of high resolution actuators and high precision spherical joints enable KUBAN hexapod to achieve high performances of resolution and repeatability with up to 500 kg payloads.

For this hexapod, the actuators are the same as those used for JORAN hexapod, but with a more compact configuration.

OPTIONS

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
Travel range Tx, Ty (mm)	± 75
Travel range Tz (mm)	± 45
Travel range Rx, Ry (deg)	± 5
Travel range Rz (deg)	± 10
Resolution Tx, Ty (µm)	0.2
Resolution Tz (µm)	0.1
Resolution Rx, Ry (µrad)	1.5
Resolution Rz (µrad)	2
Repeatability Tx, Ty (µm)	± 0.5
Repeatability Tz (µm)	± 0.25
Repeatability Rx, Ry (µrad)	± 2.5
Repeatability Rz (µrad)	± 4
Speed Tx, Ty (mm/s)	0.9
Speed Tz (mm/s)	0.4
Speed Rx, Ry (deg/s)	0.12
Speed Rz (deg/s)	0.3

Mechanical Properties
Payload capacity (g) (vertical orientation)	500
Motor type	Stepper motor
Encoder type	Absolute linear encoder

Controller
Controller type	ALPHA+
Interface	Ethernet
Power supply	110-240 V AC 50-60 Hz

Miscellaneous
Operating temperature range (°C)	0 to + 50
Materials	Aluminum, steel, stainless steel
Size mobile platform (mm)	Ø 450
Central aperture (mm)	Ø200 form mobile platform ; Ø280 for fixed platform
Height in middle position (mm)	600
Mass (g)	140
Cable length (m)	5
Options	Customized platform design, Hand-held control unit, Higher speed, Scalable size, Heavier payload
Diameter	600 mm

Optics
Synchrotron

KUBAN Hexapod – Mirror positioning hexapod for LUCIA beamline in Synchrotron SOLEIL
KUBAN Hexapod – Max Lab Synchrotron. Polarimeter positioning
KUBAN Hexapod – Max Lab Synchrotron. Polarimeter positioning
KUBAN Hexapod – SLAC Synchrotron. Mirror positioning
KUBAN Hexapod – SLAC Synchrotron. Mirror positioning

Data Sheet and Brochures

KUBAN Data Sheet

Alpha Controller Data Sheet

Positioning Hexapods Catalog

STEP 3D

KUBAN STEP 3D File

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 HIGH PAYLOAD HEXAPOD WITH HIGH STABILITY.

KUBAN hexapod is a very stable 6DOF system designed to position elements in space with high precision and with a resolution of 1.5 µrad.

For this hexapod, the actuators are the same as those used for JORAN hexapod, but with a more compact configuration.

SPECIFICATIONS

Travel range: ± 25 mm / ± 3 °
Resolution: 0.2 µm / 1.5 µrad
Repeatability: ± 0.5 µm / ± 2.5 µrad
Payload: 500 kg

OPTIONS

Cleanroom ISO5

APPLICATIONS

Optics
Synchrotron

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

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

A HIGH-PERFORMANCE CONTROL CENTER

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

Click HERE to download HexaSym

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

Max vertical payload (kg)	400-500 kg Max Payload
Vacuum compatible	Vacuum Compatible
Linear travel range (mm)	< ± 50 mm Linear Travel Range
Angular travel range (º)	< ± 10º mm Angular Travel Range
Hexapod Diameter	351 to 1000 mm Diameter

KUBAN | 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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