REACH: Robotic Equipment for Automated Crystal Harvesting using a six-axis robot arm and a micro-gripper

Heidari Khajepour, M.Y.; Vernede, X.; Cobessi, D.; Lebrette, H.; Rogues, P.; Terrien, M.; Berzin, C.; Ferrer, J.-L.

doi:10.1107/S0907444912048019

Acta Crystallographica Section D
Acta Crystallographica
Section D BIOLOGICAL CRYSTALLOGRAPHY

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Figure 1
Experimental setup on the FIP-BM30A beamline. (a) Temporary setup used for the present work. The G-Rob robot arm (1), upon harvesting from the crystallization plates located on the Visualization Bench (2), presents the sample in the beam for data collection (3). The on-axis camera (4) is used for sample centring. (b) Setup under construction. Elements are rearranged for the robot arm (1) to reach access to the Visualization Bench for harvesting (2), the Dewar for storage of cooled samples (5), the robot tools magazine where the plate gripper, the micro-gripper and the goniometer head tools are stored (6) and the plate hotel (7).

BIOLOGICAL
CRYSTALLOGRAPHY

ISSN: 1399-0047

Volume 69| Part 3| February 2013| Pages 381-387

doi:10.1107/S0907444912048019

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