X-ray detector robotic handling

For application at Synchrotron imaging beamlines

X-ray detector robotic handling

X-ray detector robotic handling

For application at Synchrotron imaging beamlines

X-ray detector robotic handling

This robotic system is intended to the high stability and absolute positioning of the detector, in order to observe diffraction patterns.

The robot can move the detector around a full sphere (=500 mm) centred on the sample, so as to identify a direction of interest for the diffraction. Then the robot moves the detector in the identified direction, up to 5 m away from the sample, so as to collect high resolution diffraction patterns.

This experimental set-up is performed automatically with a very high accuracy and reliability.

The robotic platform is made up with a last generation robotic arm Stäubli TX2 integrated onto a horizontal translation stage built on granite blocks for optimal mechanical performances (repeatability and stability).

The data acquisition is synchronized with the robotic system motions and the detector is equipped with sensitive skin panels for safety reasons.

The environment teaching and tools calibration is performed automatically by the robot through dedicated software routines.

The system comes with a full set of control electronics (power supply, PLC & safety PLC).

A dedicated calibration method and compensation algorithms developed by IRELEC enable an accuracy below 200 µm over an inspection volume of 68 m3.

The communication with the beamline supervision is performed via ethernet.

Specifications

Robot arm excursion volume

68 m3

Detector absolute positioning
Mean accuracy

189 µm

Accuracy @ 90%

292 µm

Detector position stability

±1 µm during 44 hours after a 4 hours stabilization time (32 µm displacement)

Temp. stability: ±0.1°C

7th axis horizontal translation
Range

5.5 m

Repeatability

20 µm

Straightness (vertical/horizontal)

30 µm / 50 µm

Contact IRELEC

by e-mail +33 4 76 44 12 96

References

Publications

Robotizing Soleil beamlines to improve experiments automation.
Y.-M. Abiven et al.

 Journal of Neutron Research, vol. 19, n°1-2 pp 27-32, 2017
Remote crystal alignment at cryogenic T° for Neutron scattering

Process Automation at SOLEIL: Two Applications Using Robot Manipulators.
L. E. Munoz et al.

 18th Int. Conf. on Accelerator and Large Experimental Physics Control Systems (ICALEPCS'21), Shanghai, China, Oct. 2021