A Hexapod with Customisable Leg Layout for Enhanced Mobility and Workspace

The RAIN-Hex is designed to be an advanced Walking Machine Centre with enhanced mobility (speed and adaptation with different leg layout), machining capability (work volume and stiffness) and versatility (deploy different tools/sensors).

The RAIN-Hex has demonstrated the advanced machining and walking capabilities with customised leg-layout configurations during its preliminary testing stage. The current industry use case is to deploy the RAIN-Hex for in-situ sampling for inspection of pressurised water reactor with industrial partner Rolls-Royce Power Engineering plc.

Technical Specifications:

  • Type: Six-legged Walking Machine Tool
  • Total DoF (active): 6 (Machining mode) / 19 (Walking mode)
  • Overall size: 500 x 500 x 700 mm
  • Weight: 45 Kg
  • Power: 36V/6A (current version with 5m power cable)
  • Communication interface: Umbilical power and Ethernet


Demo 1: RAIN Expo for Sellafield, Cumbria, Sept 2019, exhibition demonstration of 5-axis machining movement.

Demo 2: University of Nottingham, Sept 2020, demonstration of walking capability with different leg configurations.

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