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Figure 4
Sequential movements during sample exchange by the double-tongs system. (a) The robot comes to the side of the sample pin and opens the lower tongs. (b) The robot picks the previous pin on the goniometer head with the lower tongs. (c) The sample pin, which has been grasped by the upper tongs, is mounted on the goniometer head. (d) The robot releases the mounted sample pin from the upper tongs and carries the dismounted pin to the liquid-nitrogen Dewar.

Journal logoJOURNAL OF
SYNCHROTRON
RADIATION
ISSN: 1600-5775
Volume 15| Part 3| May 2008| Pages 300-303
https://doi.org/10.1107/S0909049507064680
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