1. ARCS Sample Manipulation Concept Overview

2. ARCS Sample Area

3. Sample Manipulation Design Goals Provide a system which will allow any piece of sample environment equipment to be mounted directly to the device Provide 360 degrees of sample rotation (yaw) Provide up to 10 degrees of “tilt” (pitch and roll) Provide accuracy of 0.02 degrees ideally, 0.1 degrees minimally for each movement Maintain system vacuum

4. Example of Sample Tilt

5. Potential ARCS Solution Three Part Design –Hexapod to provide tilting –Rotary vacuum seal to provide rotation –Welded metal bellows to allow tilting while maintaining vacuum

6. Hexapod (Stewart Platform) 6 Degree of Freedom Motion Mature Design, both hardware and software Ability to handle large loads High level of accuracy (as low as.001mm)

7. Rotary Hexapod in Action (Courtesy of Parallel Robotic Systems Corporation)

8. Rotary Vacuum Seal Provides 360 degrees of rotation Available to maintain UHV (up to 10 -11 Torr) High level of precision –<.004 degrees resolution –<.008 degrees repeatability –<.0035 degrees backlash

9. Welded Bellows Would mount to the vacuum tank on one end, hexapod on the other Must maintain system vacuum Must be able to sustain deflection due to the tilting of the sample Must sustain effects due to radiation and magnetism

10. Tilting Options 10 Degrees of Tilt –12.3 cm of Lateral Deflection (4.86”) 5 Degrees of Tilt –6.2 cm of Lateral Deflection (2.44”)

11. Costing of 80cm Options Hexapod ~$200,000 Bellows ~$100,000 Rotation Stage ~$90,000 Total Cost ~ $390,000

12. Costing of 40cm Options Hexapod ~$180,000 Bellows ~$80,000 Rotation Stage ~$43,000 Total Cost ~$303,000

13. Sample Manipulation Costing Options 40 cm Sample Size Rotation –~$43,000 90 cm and 40cm Sample Size, Rotation –~$90,000 40 cm Flange Size Tilt and Rotation –~$303,000 90 cm and 40 cm Flange Size Tilt and Rotation –~$390,000

14. ARCS Sample Manipulation Future Planning Which Option (if any) is most attractive? Off the Shelf, or In-house design? Could we combine the Insertion device with a Hexapod concept?