SYMéTRIE is one of the world's leading suppliers of six-axis robot solutions for use in positioning and motion control. The six-axis robot is a parallel robot, also known as a six-axis motion platform, which uses six linear actuators (jacks) and has six degrees of freedom (X, Y, Z, pitch, torsion, and roll). The SYMéTRIE six-axis robot consists of a low platform (base), a high platform (mobile platform) and six linear drives (with built-in ball screw drive). The spherical universal joint connects the respective drive rods to the base and the mobile platform. The high platform supports the payload and can be installed in both vertical and horizontal directions. Typical applications for six-axis robots include flight simulation, material testing, microscopy/telescope, aerospace engineering, scientific research, and more.
Renishaw's RESOLUTE series of absolute encoders have been used in SYMéTRIE's Ground Integration and Calibration Support (GICS) six-axis robots and ZONDA six-axis robots; these six-axis robots are designed for the Meteosat Third Generation (MTG) meteorological satellite (planned on Designed for verification testing of two types of advanced components during the manufacturing process that began in 2019.
The MTG series of satellites consists of four imaging satellites (MTG-I) and two exploration satellites (MTG-S) that operate along geosynchronous orbit and acquire data. These applications require a separately controllable driver with absolute encoder feedback as a rigid servo loop. Renishaw's grating system with ZeroMetTM (FeNi36) RELA linear scale is mounted on each drive rod for high-precision measurement – ​​the scale thermal expansion is almost zero, the readhead resolution is 5 nm, noise is low, cycle The error is low and the translation speed is high. The RESOLUTE absolute encoder ensures excellent precision and stability for both GICS and ZONDA six-axis robots; both robotic devices are certified for ISO-5 cleanroom applications.
Matthieu Cuq, chief mechanical engineer of SYMéTRIE, explained: “We chose Renishau RESOLUTE absolute gratings because of its excellent measurement performance and reliable operation in high vacuum environments. In addition, the grating scale is made of low expansion ratio. Made of ZeroMet material, which effectively reduces the sensitivity of six-axis robots to temperature changes. Thermal stability is a key requirement for these space optics projects."
GICS six-axis robot
It is a custom six-axis robot measuring 1600 (L) x 1200 (W) x 1000 (H) mm designed to test the flexible combined imager (FCI) on the four imaging satellites described above by the European Space Agency. (ESA) Ordering. The FCI consists of a scanning mirror, a telescope, and a spectral separation and detection device (SSDA) (including four optical filter detectors) that provide a panoramic image of the Earth through 16 spectral channels every 10 minutes.
SYMéTRIE's GICS six-axis robot uses six degrees of freedom to assist with SSDA ground calibration and testing with a translational position accuracy of ±0.1 μm. The instrument is designed to split incident light into five discrete spectra; four of which are near-infrared (NIR) or infrared (IR) spectra. During testing and calibration, the light source device (the purple portion of Figure 1) directs the beam to an "optical component" inside the six-axis robotic mobile platform. The optical assembly then processes the incident light and illuminates the SSDA field of view located in front of the exit pupil. A six-axis robot is used to accurately register the exit pupil of the optical assembly and the SSDA incident aperture.
SYMETRIE-GICS six-axis robot
ZONDA six-axis robot for IA DEA
This small six-axis robot measuring 725 mm (L / W) x 650 mm (H) is suitable for vacuum applications down to 10-6 mbar and is dedicated to the ground of interferometric component inspection electronics assembly (IA DEA) Calibration and testing. The IA DEA is installed in front of the infrared detector (IRS) of the meteorological satellite to provide real-time visibility into the optical and radiative performance and characteristics of the various instruments on the satellite and to assist in subsequent adjustments.
The IRS will provide a large amount of meteorological data for national meteorological centres in Europe and other regional/global numerical weather forecasting operations. The instrument works on a Fourier-transformed infrared spectrometer that processes millimeter-wavelength electromagnetic waves and consists of a scanning mirror, a front-end telescope, an interferometer, a rear-view telescope, a cooling focusing optic, and a detector. The SYMéTRIE six-axis robot supports a single black body and infrared source for ground testing and calibration of the IA DEA prior to launch. Two infrared sources, including targets that reproduce the standard test mode, are mounted on top of the XY translation stage of the six-axis robot. The function of the six-axis robot is to accurately position the infrared source and optics relative to the IA DEA with a translation accuracy of ±0.1 μm.
SYMETRIE-IA-DEA six-axis robot
RESOLUTE solution
The RESOLUTE grating with the BiSS® protocol provides SYMéTRIE with advanced features and continues to support the development of innovative six-axis robotics. From aerospace engineering to space exploration, from synchrotrons to extensive scientific research, the unique multi-purpose motion control platform offered by six-axis robots has been used in many different industries.
IA-DEA test setup with SYMETRIE six-axis robot
The advantages of RESOLUTE in six-axis robot applications include:
Reliability: Reliable raster data output is key. Counting errors such as power outages are unacceptable because they can cause positional reading errors—if the configuration is significantly deviated from the stable configuration, the six-axis robot can be severely damaged. RESOLUTE is extremely resistant to stains, scratches and greases, in contrast to dust, scratches and grease that can cause other gratings to count incorrectly. The independent position verification algorithm also ensures that any potential problems are flagged before any servo control problems occur.
High resolution and low noise (jitter): Six-axis robots require a position feedback system with high resolution and stability. Low noise (typically below 10 nm RMS) improves the displacement sensitivity of a six-axis robot and increases its stability through servo ring stiffness.
The system is highly accurate and fast, using the BiSS serial communication protocol: Since the six-axis robot has a parallel mechanical positioning structure, a very complicated control system is required - for example, the position coordinates are provided in the form of a virtual Cartesian axis, which is then used by the controller. Convert to a single drive's positioning command. RESOLUTE's high precision and excellent dynamic performance, combined with fast grating response times (thanks to the BiSS interface), help optimize the performance of controllers and six-axis robots.
Easy to install: RESOLUTE is a single-channel absolute grating that offers tighter mounting tolerances than traditional multi-coded gratings.
RESOLUTE's built-in LED mounting indicator further simplifies the grating installation process during six-axis robot manufacturing and maintenance.
Renishaw has established a close working relationship with SYMéTRIE, which helps deliver advanced six-axis robots to meet the demanding product requirements of the aerospace equipment industry. More in-depth cooperation in the future will further promote product innovation for both parties.
ABOUT SYMéTRIE
SYMéTRIE is a leading manufacturer of six-axis robots in Nimes, France. The six-axis robot uses six degrees of freedom to locate objects in the space with high accuracy, resolution, and robustness. SYMéTRIE has extensive experience in large-scale technology projects such as the MegaJoule Laser (France MJ Laser Project), James Webb and Gaia Space Telescope. With its proven expertise, SYMéTRIE won the “2007 French National Measurement Award†from the French Society of Metrology (Collège Français de Métrologie).
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