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Title: Robot-based automation system for cryogenic crystal sample mounting

Abstract

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.

Inventors:
; ; ; ; ; ; ; ; ; ; ;
Issue Date:
Research Org.:
UChicago Argonne LLC, Chicago, IL (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1531520
Patent Number(s):
7,162,888
Application Number:
10/807,599
Assignee:
UChicago Argonne, LLC (Chicago, IL)
DOE Contract Number:  
W-31-109-ENG-38
Resource Type:
Patent
Resource Relation:
Patent File Date: 2004-03-24
Country of Publication:
United States
Language:
English

Citation Formats

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, and Schuessler, Robert G. Robot-based automation system for cryogenic crystal sample mounting. United States: N. p., 2007. Web.
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. Robot-based automation system for cryogenic crystal sample mounting. United States.
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, and Schuessler, Robert G. Tue . "Robot-based automation system for cryogenic crystal sample mounting". United States. https://www.osti.gov/servlets/purl/1531520.
@article{osti_1531520,
title = {Robot-based automation system for cryogenic crystal sample mounting},
author = {Shu, Deming and Joachimiak, Andrzej and Preissner, Curt A. and Nocher, Daniel and Han, Yufeng and Barraza, Jr., Juan and Lee, Peter and Lee, Wah -Keat and Cai, Zhonghou and Ginell, Stephan and Alkire, Randy and Schuessler, Robert G.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2007},
month = {1}
}

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Works referenced in this record:

Grasp force sensor for robotic hands
patent, April 1989


Tactile sensor device
patent, May 1999


Method and apparatus for cryogenic storage of thermolabile products
patent, October 2001


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