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Figure 1
The UMR prototype. The core of the system is a Stäubli RX 60 anthropomorphic six-axis robot, equipped with a versatile pneumatically operated tool exchanger, giving the robotic arm access to a wide range of harvesting loops, microtools and liquid exchange capability.

Journal logoJOURNAL OF
APPLIED
CRYSTALLOGRAPHY
ISSN: 1600-5767
Volume 40| Part 3| May 2007| Pages 539-545
doi:10.1107/S0021889807012149
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