T-Flex: A large range of motion fully flexure-based 6-DOF hexapod

M. Naves*, W.B.J. Hakvoort, M. Nijenhuis, D.M. Brouwer

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
81 Downloads (Pure)


Six degree of freedom manipulation provides full control over position and orientation, essential for many applications. However, six degree of freedom closed kinematic (parallel) manipulators either have a limited range of motion combined with a good repeatability when comprising flexure joints, or they have limited repeatability with a large workspace when using traditional rolling- or sliding-element bearings. Employing recent developments in large stroke flexures and design optimization, a fully flexure-based large range of motion hexapod robot has been designed. The resulting system allows for ±100 mm of translational and more than ±10 degrees of rotational range of motion in each direction combined with a small mechanism volume below 0.25 m3. Furthermore, a dedicated flexure-based design for the actuators combines high actuation forces without impairing precision, allowing for accelerations exceeding 10g. Experiments on a preliminary prototype validate the large workspace and confirm a high repeatability below 0.1 µm can be achieved, which is currently limited by electronics.

Original languageEnglish
Title of host publicationProceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020
EditorsR.K. Leach, D. Billington, C. Nisbet, D. Phillips
Number of pages4
ISBN (Electronic)9780995775176
Publication statusPublished - 1 Jan 2020
Event20th EUSPEN International Conference & Exhibition, EUSPEN 2020 - Online, Geneva, Austria
Duration: 8 Jun 202012 Jun 2020
Conference number: 20


Conference20th EUSPEN International Conference & Exhibition, EUSPEN 2020
Abbreviated titleEUSPEN


  • Flexure mechanism
  • Hexapod
  • Large range of motion
  • Parallel manipulator

Cite this