Author: Elkaim, E.
Paper Title Page
MOPHA001 Robotizing SOLEIL Beamlines to Improve Experiments Automation 183
  • Y.-M. Abiven, T. Bucaille, L. Chavas, E. Elkaim, P. Gourhant, Y. Liatimi, K. Medjoubi, S. Pierre-Joseph Zéphir, B. Pilliaud, V. Pinty, A. Somogyi, F. Thiam
    SOLEIL, Gif-sur-Yvette, France
  • S. Bouvel
    EFOR, Levallois Perret, France
  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 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.  
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About • paper received ※ 30 September 2019       paper accepted ※ 10 October 2019       issue date ※ 30 August 2020  
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