A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory

Parise, M.; di Ciocchis, F.; Passarelli, D.

doi:10.1088/1748-0221/13/08/T08004

Title: A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory

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Abstract

In Superconducting Radio Frequency (SRF) cryomodules, precise alignment of cavities is necessary to ensure high beam quality and to increase the overall energetic efficiency. In the SSR1 (Single Spoke Resonator 1) cryomodule, the cavities are aligned using a system of seven screws which allows to control five Degree of Freedoms (DOFs). The relation between the rotation of each screw and the movement of the cavity is non-linear, thus the aligning process, currently based on a trial-and-error procedure, can be time consuming and affected by human error. In this paper the design of an alignment mathematical model, based on the serial robot kinematic, is described and tested on a SSR1 cavity. Furthermore, the goal of the proposed model is to give a step by step operational procedure that bring the SSR1 cavity to a desired location reducing the uncertainties related to the current operator-driven alignment process.

Authors:

Parise, M. ^[1]; di Ciocchis, F. ^[1]; Passarelli, D. ^[1]

Fermi National Accelerator Lab. (FNAL), Batavia, IL (United States)

Publication Date:: Mon Aug 13 00:00:00 EDT 2018

Research Org.:: Fermi National Accelerator Lab. (FNAL), Batavia, IL (United States)

Sponsoring Org.:: USDOE Office of Science (SC), High Energy Physics (HEP)

OSTI Identifier:: 1470328

Report Number(s):: FERMILAB-PUB-18-383-TD
Journal ID: ISSN 1748-0221; 1689225

Grant/Contract Number:: AC02-07CH11359

Resource Type:: Accepted Manuscript

Journal Name:: Journal of Instrumentation

Additional Journal Information:: Journal Volume: 13; Journal Issue: 08; Journal ID: ISSN 1748-0221

Publisher:: Institute of Physics (IOP)

Country of Publication:: United States

Language:: English

Subject:: 43 PARTICLE ACCELERATORS; Accelerator Applications; Overall mechanics design (support structures and materials, vibration analysis etc)

Citation Formats


                    Parise, M., di Ciocchis, F., and Passarelli, D. A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory.  United States: N. p., 2018. 
Web.  doi:10.1088/1748-0221/13/08/T08004.

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                    Parise, M., di Ciocchis, F., & Passarelli, D. A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory.  United States.  https://doi.org/10.1088/1748-0221/13/08/T08004

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                    Parise, M., di Ciocchis, F., and Passarelli, D. Mon .  
"A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory".  United States.  https://doi.org/10.1088/1748-0221/13/08/T08004.  https://www.osti.gov/servlets/purl/1470328.

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@article{osti_1470328,

  title        = {A mathematical model to systematically align superconducting radio frequency cavities employing the serial robot kinematic theory},

  author       = {Parise, M. and di Ciocchis, F. and Passarelli, D.},

  abstractNote = {In Superconducting Radio Frequency (SRF) cryomodules, precise alignment of cavities is necessary to ensure high beam quality and to increase the overall energetic efficiency. In the SSR1 (Single Spoke Resonator 1) cryomodule, the cavities are aligned using a system of seven screws which allows to control five Degree of Freedoms (DOFs). The relation between the rotation of each screw and the movement of the cavity is non-linear, thus the aligning process, currently based on a trial-and-error procedure, can be time consuming and affected by human error. In this paper the design of an alignment mathematical model, based on the serial robot kinematic, is described and tested on a SSR1 cavity. Furthermore, the goal of the proposed model is to give a step by step operational procedure that bring the SSR1 cavity to a desired location reducing the uncertainties related to the current operator-driven alignment process.},

  doi          = {10.1088/1748-0221/13/08/T08004},

  journal      = {Journal of Instrumentation},

  number       = 08,

  volume       = 13,

  place        = {United States},

  year         = {Mon Aug 13 00:00:00 EDT 2018},

  month        = {Mon Aug 13 00:00:00 EDT 2018}

}

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