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Proceedings Paper

Challenges of extreme load hexapod design and modularization for large ground-based telescopes
Author(s): Rainer Gloess; Brian Lula
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Paper Abstract

The hexapod is a parallel kinematic manipulator that is the minimum arrangement for independent control of six degrees of freedom. Advancing needs for hexapod performance, capacity and configurations have driven development of highly capable new actuator designs. This paper describes new compact hexapod design proposals for high load capacity, and corresponding hexapod actuator only mechanisms suitable for integration as structural motion elements in next-generation telescope designs. These actuators provide up to 90 000N load capability while preserving sub-micrometer positional capability and in-position stability. The design is optimized for low power dissipation and incorporates novel encoders direct manufactured with the nut flange to achieve more than 100000 increments per revolution. In the hexapod design we choose cardan joints for the actuator that have axis offsets to provide optimized stiffness. The additional computational requirements for offset axes are readily solved by advanced kinematic algorithms and modern hardware. The paper also describes the hexapod controller concept with individual actuator designs, which allows the integration of hexapod actuators into the main telescope structure to reduce mass and provide the telescope designer more design freedom in the incorporation of these types of motion systems. An adaptive software package was developed including collision control feature for real-time safety during hexapod movements.

Paper Details

Date Published: 21 July 2010
PDF: 11 pages
Proc. SPIE 7739, Modern Technologies in Space- and Ground-based Telescopes and Instrumentation, 77391U (21 July 2010); doi: 10.1117/12.858156
Show Author Affiliations
Rainer Gloess, Physik Instrumente GmbH & Co. KG (Germany)
Brian Lula, PI (Physik Instrumente) L.P. (United States)


Published in SPIE Proceedings Vol. 7739:
Modern Technologies in Space- and Ground-based Telescopes and Instrumentation
Eli Atad-Ettedgui; Dietrich Lemke, Editor(s)

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