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.

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.

Abstract: A stage or support platform assembly for use in a synchrotron accurately positions equipment to be used in the beam line of the synchrotron. The support platform assembly includes an outer housing in which is disposed a lifting mechanism having a lifting platform or stage at its upper extremity on which the equipment is mounted. A worm gear assembly is located in the housing and is adapted to raise and lower a lifting shaft that is fixed to the lifting platform by an anti-binding connection. The lifting platform is moved vertically as the lifting shaft is moved vertically. The anti-binding connection prevents the shaft from rotating with respect to the platform, but does permit slight canting of the shaft with respect to the lifting platform so as to eliminate binding and wear due to possible tolerance mismatches.