Compact 6-axis positioning system

A 6-axis positioning system, comprising:

• a base;
• a movable unit;
• and
• six variable-length actuators, one end of each actuator being connected to the base and another end of each actuator being connected to the movable unit,
• wherein the six actuators are divided into two groups each having three actuators, and the actuators of the first group are arranged on the base within a region bounded by the actuators of the second group, and the actuators of the first group are arranged on the movable unit within a region bounded by the actuators of the second group;
• wherein a lower end and an upper end of each of the three actuators of the second group are connected to the base and to the movable unit, respectively, by respective pivot fastening systems;
• wherein an upper end of each of the three actuators of the first group is connected to the movable unit by a pivot fastening system;
• wherein a lower end of each of the three actuators of the first group is connected to the base by a pivot fastening system that pivots during an adjustment operation of the 6-axis positioning system;
• wherein the three actuators of the first group are variable in length and pivotably connected to the base and the movable unit so that each of the three actuators of the first group is movable only in an angular range of a maximum of ±30° relative to a first virtual line extending perpendicular to a plane spanned by the base;
• and
• wherein the three actuators of the second group are a variable in length and pivotably connected to the base and the movable unit so that each of the three actuators of the second group is arranged to be movable only in an angular range of ≥0 to a maximum of 45° relative to a second virtual line extending parallel to the plane spanned by the base.