The goal of this research project in neutron diffractometry is the realization of the automated sample positioning in the focus point of the neutron source with a classical 6-axis industrial robot. To achieve the necessary absolute accuracy of 50 μm, a measuring and control system is developed, that enables a high-precision position measurement of the sample, which is mounted to the robot, in the complete workspace, to compensate deviations from the target position. Additionally, within the framework of this project, the automated generation of a measuring program based on the sample geometry is explored and developed. In addition, a collision avoidance system is integrated for the robot.
Compared to the state of the art, the aimed results of this project allow a substitution of the currently deployed expensive special kinematics, a higher degree of freedom of the sample positioning and the automatic generation and execution of measurement programs.