Axis 850 Uživatelský manuál stáhnout pdf (Strana 7)

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Hexapod-Speciﬁc Software

Due to their parallel kinematic structure,

Hexapods necessitate a particularly

complex control system. The position

coordinates, for example, are given in virtu-

al Cartesian axes which are then converted

into positioning commands for the indivi-

dual actuators by the controller. PI supplies

special software that allow the 6-axes posi-

tioners to be more convenient in operation

and easier to integrate.

Determining the work space

The limits of the work space vary depen-

ding on the current position of the Hexa-

pod (translation and rotation coordinates)

and the current coordinates of the pivot

point. A special software tool included with

each PI Hexapod calculates these limits and

displays them graphically.

Checking the permissible load

As with any multiaxis positioning system,

the load limit of the Hexapod varies as a

function of a number of factors such as

orientation of the Hexapod, size and

position of the payload, current position

(translation and rotation coordinates) of the

Hexapod platform, and forces and moments

acting on the platform.

The Hexapod software package includes a

PI simulation tool that calculates all forces

and moments and compares them individu-

ally against the speciﬁed load limits of the

corresponding Hexapod mechanics.

Preventing collisions with PIVeriMove

Another proprietary PI simulation software

tool enables ofﬂine graphical conﬁguration

and simulation of the Hexapod motion in

the application environment. CAD data of

objects can be imported or approximated

with simple shapes such as cylinders and

cuboids. PIVeriMove then checks restric-

tions in the work space. Implemented in

the controller ﬁrmware or the application

software, this prevents the Hexapod from

approaching positions where the platform,

struts, or the mounted load would collide

with the surroundings.

Emulation: The Hexapod system

as a virtual machine

A virtual machine that can be installed

on the customer’s host PC is available to

emulate a complete Hexapod systems

(mechanics, controller and even periphe-

rals). Application programs can then be

developed and pre-tested, different load

scenarios can be simulated and the work

space can be determined before the system

arrives, saving signiﬁcant cost and develop-

ment time.

HexaApp: PI Hexapod control via iPhone,

iPad or iPod

The Hexapod system can also be controlled

wirelessly from mobile Apple iOS devices.

A corresponding app enables command

control of touchscreen, motion sensors or

via a command input window.

The simulation software graphically

displays the position and the available

work space of the Hexapod model

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