We present a nonlinear field theory of a three-sublattice hexagonal antiferromagnet. The order parameter is the spin frame, an orthogonal triplet of vectors related to sublattice magnetizations and spin chirality. The exchange energy, quadratic in spin-frame gradients, has three coupling constants, only two of which manifest themselves in the bulk. As a result, the three spin-wave velocities satisfy a universal relation. Vortices generally have an elliptical shape with the eccentricity determined by the Lamé parameters.