Open AccessRobotic sample changers for macromolecular X‐ray crystallography and biological small‐angle X‐ray scattering at the National Synchrotron Light Source II
Author(s) -
Lazo Edwin O.,
Antonelli Stephen,
Aishima Jun,
Bernstein Herbert J.,
Bhogadi Dileep,
Fuchs Martin R.,
Guichard Nicolas,
McSweeney Sean,
Myers Stuart,
Qian Kun,
Schneider Dieter,
Shea-McCarthy Grace,
Skinner John,
Sweet Robert,
Yang Lin,
Jakoncic Jean
Publication year - 2021
Publication title -
journal of synchrotron radiation
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.172
H-Index - 99
ISSN - 1600-5775
DOI - 10.1107/s1600577521007578
Subject(s) - beamline , goniometer , software , synchrotron , grippers , sample (material) , robotic arm , computer science , computer hardware , materials science , optics , mechanical engineering , physics , engineering , operating system , beam (structure) , thermodynamics
Here we present two robotic sample changers integrated into the experimental stations for the macromolecular crystallography (MX) beamlines AMX and FMX, and the biological small‐angle scattering (bioSAXS) beamline LiX. They enable fully automated unattended data collection and remote access to the beamlines. The system designs incorporate high‐throughput, versatility, high‐capacity, resource sharing and robustness. All systems are centered around a six‐axis industrial robotic arm coupled with a force torque sensor and in‐house end effectors (grippers). They have the same software architecture and the facility standard EPICS‐based BEAST alarm system. The MX system is compatible with SPINE bases and Unipucks. It comprises a liquid nitrogen dewar holding 384 samples (24 Unipucks) and a stay‐cold gripper, and utilizes machine vision software to track the sample during operations and to calculate the final mount position on the goniometer. The bioSAXS system has an in‐house engineered sample storage unit that can hold up to 360 samples (20 sample holders) which keeps samples at a user‐set temperature (277 K to 300 K). The MX systems were deployed in early 2017 and the bioSAXS system in early 2019.