MRD - HEGOA Hexapod.pdf
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- Attached to
- Axiom Optics HEGOA Table Top Motion Hexapod
- Solicitation number
- SS-AFRL-PZLEQ-2026-0014
About this file
This is a Minimum Requirements Document for the procurement of the Axiom Optics HEGOA Table Top Motion Hexapod system by the Air Force Research Laboratory (AFRL), Rocket Propulsion Division/Turbine Engine Hot Section (RWTSH). The requirement is for the Kinetic Kill Hardware-in-the-Loop Simulation (KHILS) Laboratory to acquire a bench-top hexapod motion platform with integrated software and support services to articulate seeker sensor prototypes for real-time hardware-in-the-loop simulations supporting the Hypersonic Infrared Target Sensing (HITS) ARAP program. The document establishes this as an urgent requirement needed for integration into a HWIL testbed that will test IR-guided hypersonic weapons and be demonstrated to HITS program stakeholders and OUSW customer, with subsequent tech transition to tri-service (plus MDA) Department of War test facilities.
The firm salient characteristics specify the hexapod system must include controller, cables, SYM_Motion control software, documentation, factory acceptance tests, packaging, and hotline support during startup. Required performance parameters include travel ranges of ±100/±50 mm (Tx-Ty/Tz) and ±23/±30 degrees (Rx-Ry/Rz); speeds of ±200 mm/s and ±50 degrees/s; accelerations of ±800 mm/s² and ±200 degrees/s²; 50 kg payload capacity (vertical only); position accuracy of 0.005 degrees; resolution of 0.001 degrees; and repeatability of 0.005 degrees. The system must include SYM_Motion API for software interface control, UDP Acquisition with 100 Hz state feedback broadcasting from motor absolute encoders, and External Real-Time Trajectory (ERTT) feature enabling on-the-fly hexapod control through real-time trajectory generation. The document specifies that any "or equal" item must meet all stated characteristics.
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Minimum Requirements Document
Axiom Optics HEGOA Table Top Motion Hexapod
3 April 2026
Scope: The AFRL/RWTSH requires the purchase of the Axiom Optics HEGOA Table Top
Motion Hexapod including SYM_Motion API, UDP Acquisition + State Feedback, and External
Real-Time Trajectory features.
Background: The Kinetic Kill Hardware-in-the-Loop Simulation (KHILS) Laboratory seeks to procure a bench-top hexapod motion platform to control position and angular orientation of seeker sensor prototypes for real-time hardware-in-the-loop (HWIL) simulations. This is an urgent requirement needed for integration into a HWIL testbed under development to support the
Hypersonic Infrared Target Sensing (HITS) ARAP program. The hexapod will serve as a flight motion platform used to articulate a concept seeker sensor for physically simulating representative missile trajectories and line-of-sight with respect to a synthetic target. The final testbed including the hexapod represents a new capability for testing IR-guided hypersonic weapons and will be demonstrated to HITS program stakeholders and OUSW customer upon sensor integration and initial testing. Tech transition to tri-service (plus MDA) DoW test facilities would follow.
Requirements/Salient Characteristics: The following Salient Characteristics are firm requirements and any “or equal” item must meet these characteristics:
• Hexapod, controller & set of cables, SYM_Motion control software, documentation, factory acceptance tests, packaging & hotline during starting process
• Travel range Tx-Ty / Tz (mm): ± 100 / ± 50
• Travel range Rx-Ry / Rz (°): ± 23 / ± 30
• Speed Tx, Ty & Tz (mm/s): ± 200
• Speed Rx, Ry & Rz (°/s): ± 50
• Acceleration Tx, Ty & Tz (mm/s²): ± 800
• Acceleration Rx, Ry & Rz (°/s²): ± 200
• Payload capacity (vertical only, kg): 50
• Position Accuracy (°): 0.005
• Resolution (°): 0.001
• Repeatability (°): 0.005
• SYM_Motion API: controlling the hexapod through a software interface other than
SYM_Motion software
• UDP Acquisition + State Feedback: broadcasting at 100 Hz of the hexapod position retrieved from motors absolute encoders information
• ERTT Feature (External Real-Time Trajectory): allows the user to control the hexapod on-the-fly by means of its own real-time trajectory generator
The Axiom Optics HEGOA hexapod system is being purchased for KHILS Laboratory research and development of new EO/IR sensing capabilities. The hexapod is required to articulate a sensor-under-test in position and angle with respect to a high-fidelity scene projection system.
The hexapod will control the geometry between the sensor and target in a real-time hardware-in-the-loop simulation.
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