Charging infrastructure with a hexapod charging station for a vehicle

Charging infrastructure comprising

• a charging station for charging a vehicle having a vehicle-side charging interface, wherein the charging station comprises
• a robot that carries a robot-side charging interface for establishing a charging connection with the vehicle-side charging interface, wherein the robot comprises
• a base frame,
• a moveable carrier carrying the robot-side charging interface,
• characterized by
• at least three displacement assemblies between the base frame and the moveable carrier that form a mechanism to move the moveable carrier with at least three degrees of freedom with respect to the base frame, wherein
• each displacement assembly comprises an actuator that is configured for
• imposing a displacement between the base frame and the moveable carrier over a displacement stroke or
• imposing a rotation of the moveable carrier with respect to the base frame over a displacement angle,
• and wherein the robot comprises
• at least one compliance assembly in series with each actuator and the robot-side charging interface for facilitating a disengagement of the robot-side charging interface from the vehicle-side charging interface, when a position of the vehicle has changed during a charging process or for absorbing a motion as imposed by a rectilinear motion of the actuator or by a movement of the vehicle,
• wherein the at least one compliance assembly is
• configured for
• absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or for
• absorbing or releasing a rotation of the moveable carrier with respect to the base frame over a compliance rotation,
• wherein the length of the compliance stroke is at least 5 millimeter, or wherein the angle of the compliance rotation is at least 1 degree.