Here is a compact, direct-drive 6-DoF hexapod that uses lever-based actuators for nano-positioning and alignment. Its lever-actuators are arranged between a fixed base platform and movable top platform. This approach allows the robot to perform precise lateral and rotational movements. The below video shows these robots in action:
This approach reduces complexity and improves performance. The highest load model can handle up to 100kg of load. You can find out more here.