ARCS Sample Manipulation Concept Overview

ARCS Sample Area

Sample Manipulation Design Goals

• Provide a system which will allow any piece of sample environment equipment to be mounted directly to the device

• Provide 360 degrees of sample rotation (yaw)• Provide up to 10 degrees of “tilt” (pitch and roll)• Provide accuracy of 0.02 degrees ideally, 0.1 degrees

minimally for each movement• Maintain system vacuum

Example of Sample Tilt

Potential ARCS Solution

• Three Part Design– Hexapod to provide tilting– Rotary vacuum seal to

provide rotation– Welded metal bellows to

allow tilting while maintaining vacuum

Hexapod (Stewart Platform)

• 6 Degree of Freedom Motion

• Mature Design, both hardware and software

• Ability to handle large loads

• High level of accuracy (as low as .001mm)

Rotary Hexapod in Action(Courtesy of Parallel Robotic Systems Corporation)

Rotary Vacuum Seal

• Provides 360 degrees of rotation

• Available to maintain UHV (up to 10-11 Torr)

• High level of precision– <.004 degrees resolution– <.008 degrees repeatability– <.0035 degrees backlash

Welded Bellows

• Would mount to the vacuum tank on one end, hexapod on the other

• Must maintain system vacuum

• Must be able to sustain deflection due to the tilting of the sample

• Must sustain effects due to radiation and magnetism

Tilting Options

• 10 Degrees of Tilt– 12.3 cm of Lateral Deflection (4.86”)

• 5 Degrees of Tilt– 6.2 cm of Lateral Deflection (2.44”)

Costing of 80cm Options

• Hexapod ~$200,000• Bellows ~$100,000• Rotation Stage ~$90,000

• Total Cost ~ $390,000

Costing of 40cm Options

• Hexapod ~$180,000• Bellows ~$80,000• Rotation Stage ~$43,000

• Total Cost ~$303,000

Sample Manipulation Costing Options

• 40 cm Sample Size Rotation– ~$43,000

• 90 cm and 40cm Sample Size, Rotation– ~$90,000

• 40 cm Flange Size Tilt and Rotation– ~$303,000

• 90 cm and 40 cm Flange Size Tilt and Rotation– ~$390,000

ARCS Sample Manipulation Future Planning

• Which Option (if any) is most attractive?• Off the Shelf, or In-house design?• Could we combine the Insertion device with a Hexapod

concept?