Robot-based automation system for cryogenic crystal sample mounting

Patent · Tue Jan 16 04:00:00 EST 2007

OSTI ID:1531520

Shu, Deming; Joachimiak, Andrzej; Preissner, Curt A.; Nocher, Daniel; Han, Yufeng; Barraza, Jr., Juan; Lee, Peter; Lee, Wah -Keat; Cai, Zhonghou; Ginell, Stephan; Alkire, Randy; Schuessler, Robert G.

A method and robot-based automation system are provided for cryogenic crystal sample mounting, for example, for use for cryogenic crystal sample mounting in the x-ray crystallography station at an x-ray source. The system includes a robot arm carrying a handset. The handset includes a pair of elongated fingers for sample mounting, and each finger carrying a set of strain gauge arrays for providing force sensing. A slim finger design allows a sample mounting process with no interference with the beam stop, cryostreem and x-ray detectors. The handset can detect the contact force intensity and direction; provide a precise gripping action; and feel the results of the gripping. The finger design incorporates a mechanism to maintain the sample temperature well below the cryogenic safety margin for the crystal viability. A Dewar container is provided with an ice control system and liquid nitrogen flow control. A triangular sample magazine maximizes the Dewar space usage. A miniature kinematical mounting sample holder provides near micron positioning repeatability. These capabilities make the robot-arm more powerful, flexible, and reliable.

• Research Organization: UChicago Argonne LLC, Chicago, IL (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: W-31109-ENG-38
• Assignee: UChicago Argonne, LLC (Chicago, IL)
• Patent Number(s): 7,162,888
• Application Number: 10/807,599
• OSTI ID: 1531520
• Country of Publication: United States
• Language: English