High Precision Robotic Manipulator for Bluelining at MAX IV

Abstract: MAX IV is a synchrotron facility currently running 14 beamlines hosting about 1000 users per year. It is one of the best of its kind; producing high quality Xrays at the forefront of synchrotron science. To have a beamline or a synchrotron functional, every equipment used needs to be placed in the workspace with high precision. In the current setup, this is supported by bluelining, a technique to transfer the points from the 3D CAD diagram to the real space. This is done by marking points on the floor at places where the equipment needs to be placed. The position measurement is provided by a Leica Laser Tracker. The positioning precision expected in a bluelining task is about 60 micrometers. However, the marking precision expected is about a millimeter due to the thickness of the pen. The manual process of marking these points is a tedious and time-consuming task for the measurement team. Automating this task would ease the work for the measurement team and free up time and resources for them. Not to mention the reduced back pain. Large-scale infrastructures, such as the MAX IV Laboratory, rely on technology that must conduct extremely accurate operations. The position of the components in space has a significant impact on their performance. The purpose of this Master’s thesis is to create a sophisticated robot that will increase the precision of equipment positioning well beyond what is now possible.MAXIV, as well as its colleagues and consumers from academia and business, will profit tremendously from the project’s outcomes. In addition, the robot can be employed in other similar locations and has the potential to be used in industrial settings.