ZONDA | Best-In-Class Positioning Hexapod

Payload (vertical / Horizontal )

400 kg / 140 kg

Linear travel range

± 50 mm / ± 200 mm

Angular travel range

± 20 °

Linear/angular resolution

0.1 µm / 1.5 µrad (0.5µrad)

Height middle position

360 mm / 640mm

Vacuum / Cryo / Cleanroom

HV (10-6) / No / ISO 5

High Accuracy and Heavy Payload Best-In-Class Hexapod

ZONDA positioning hexapod is a new high-performance 6DOF system meeting applications requiring both high precision, stability, accuracy, heavy load and large travels.

Designed to position up to 400 kg payload with a resolution of 0.1 µm only, ZONDA hexapod offers great travel with 400 mm in XY, 300 mm in Z, and 40 ° in the three rotations Rx, Ry and Rz.

ZONDA positioning hexapod has unmatched accuracy and thermal stability characteristics thanks to the integrating Invar components with a very low CTE (Coefficient of Thermal Expansion), linear absolute encoders integrated as a standard in the actuators and the design of particularly rigid joints.

ZONDA Best-In-Class hexapod can be used in any orientation: vertical, horizontal, upside down…

Optionally, ZONDA hexapod can be high vacuum (10^-6 mbar) or cleanroom compatible.

SPECIFICATIONS

Travel range : ± 200 mm / ± 20 °
Resolution : 0.1 µm
Repeatability : ± 0.25 µm / ± 1 µrad
Payload : 400 kg

APPLICATIONS

Optics
Research & Engineering
Space
Synchrotron

A HIGH-PERFORMANCE CONTROL CENTER

Controlling a parallel kinematics mechanism such as a positioning 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 positioning 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 positioning 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.

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

Motion & Positioning
	Zonda S	ZONDA
	for small travel range	for large travel range
Travel range Tx, Ty (mm)	± 50	± 200
Travel range Tz (mm)	± 25	± 150
Travel range Rx, Ry (deg)	± 10	± 20
Travel range Rz (deg)	± 20	± 20
Resolution Tx, Ty, Tz (µm)	0.1	0.1
Resolution Rx, Ry, Rz (µrad)	1.5	0.5
Repeatability Tx, Ty, Tz (µm)	± 0.25	± 0.25
Repeatability Rx, Ry, Rz (µrad)	± 2.5	± 1
Speed Tx, Ty (mm/s)	0.55	0.8
Speed Tz (mm/s)	0.4	0.4
Speed Rx, Rz (deg/s)	0.075	0.2
Speed (mm/s; deg/s)	0.12	0.4

Mechanical Properties
	ZONDA S	ZONDA
Stiffness X, Y (N/µm)	5	8.5
Stiffness Z (N/µm)	50	30
Payload capacity (kg) (vertical orientation / horizontal orientation)	400/140	400/140
Motor Type	Stepper	Stepper
Encoder Type	Absolute linear encoder	Absolute linear encoder

Miscellaneous
	ZONDA S	ZONDA
Operating temperature range (°C)	0 to + 75	0 to + 75
Materials	Aluminum, stainless steel, Invar, Peek	Aluminum, stainless steel, Invar, Peek
Size mobile platform (mm)	Ø 320	Ø 720
Height in middle position (mm)	360	640
Mass (kg)	37	99
Cable length (m)	<5	<5
Options	Clean room compatibility, Vacuum compatibility, Customized platform design, Higher speed with brushless or DC motor	Clean room compatibility, Vacuum compatibility, Customized platform design, Higher speed with brushless or DC motor
Diameter	510 mm	1000 mm

Controller
Controller Type	ALPHA+
Interface	Ethernet
Power Supply	110-240 VAC / 50-60 Hz

Optics
Research & Engineering
Space
Synchrotron

ZONDA hexapod in clean room (copyright BERTIN Technologies)
ZONDA Hexapod in clean room (copyright BERTIN Technologies)
ZONDA hexapod at CSL. With qualification mirror (copyright CSL)
ZONDA hexapod for collimator support (©OHB)
ZONDA hexapod for collimator support (©OHB)
ZONDA Hexapod in clean room (Copyright CSL)
ZONDA hexapod with SIRIUS hexapod Euclid at Airbus
ZONDA hexapod at DIAMOND synchrotron – ©Diamond
ZONDA Hexapod in a vacuum chamber with a mirror for optical calibration at Thales Alenia Space

Data Sheet and Brochures

ZONDA Data Sheet

Alpha Controller Data Sheet

Positioning Hexapods Catalog

STEP 3D

ZONDA 3D STEP File

ZONDA S 3D STEP 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

High Accuracy and Heavy Payload Best-In-Class Hexapod

ZONDA positioning hexapod is a new high-performance 6DOF system meeting applications requiring both high precision, stability, accuracy, heavy load and large travels.

Designed to position up to 400 kg payload with a resolution of 0.1 µm only, ZONDA hexapod offers great travel with 400 mm in XY, 300 mm in Z, and 40 ° in the three rotations Rx, Ry and Rz.

ZONDA Best-In-Class hexapod can be used in any orientation: vertical, horizontal, upside down…

Optionally, ZONDA hexapod can be high vacuum (10^-6 mbar) or cleanroom compatible.