Robotizing SOLEIL Beamlines to Improve Experiments Automation

Yves-Marie Abiven, Simon Bouvel, Thierry Bucaille, Leonard Chavas, Erik Elkaim, Patrick Gourhant, Youssef Liatimi, Kadda Medjoubi, Sandra Pierre-Joseph Zéphir, Bertrand Pilliaud, Victor Pinty, Andréa Somogyi (+5 others)
2020
Beamlines can benefit from the implementation of industrial robots in several ways: minimization of dead time, maximization of experimental throughput, and limitation of human presence during experimentation. Furthermore, the robots add flexibility in task management. The challenge for SOLEIL is to define a robotic standard, on both hardware and software, which is versatile enough to cover beamlines requirements, while being easy to implement, easy to use, and to maintain in operation. This
more » ... operation. This paper will present the process of defining such a standard at SOLEIL, using 6 axis industrial robot arms. It will detail all aspects of this development, from market studies up to technical constraints. The specifications of the robots are aimed at addressing the most common technical constraints of beamlines, with a special care for mechanical properties. The robotic systems will be integrated into the Tango control system using a feature-based approach. This standard implementation is driven by two applications: picking and placing samples for powder diffraction on the CRISTAL beamline and positioning of a detector for x-rays coherent diffraction experiments on the NANOSCOPIUM beamline.
doi:10.18429/jacow-icalepcs2019-mopha001 fatcat:5ver6qfxj5br7lnlnkl5wcay2i