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G-Rob 1D consists in a robot-based system that ensures both the goniometer (1D) and
the sample changer (1DT) functions.
In order to do that, G-Rob 1D is made of: (i) a Dewar (that can be automatically
opened and filled) for sample storage; (ii) a 6-axis robotic arm (Stäubli);
(iii) a prehension tool (adjusted to the sample holders, at the SPINE standard for example,
but other sample formats are also available), fitted on a tool changer that enables to move
the sample from the Dewar onto the sample holder; and (iv) a sample holder fitted on a tool
changer put on a specific tool holder. Thanks to the precision and reproducibility of the
robotic arm, the system is able to record diffraction images of the same quality as those
obtained with a classical goniometer (see Jacquamet et al., Acta Cryst. 2004, D60:888-894).
With such a system, a large number of elements necessary to an X-ray diffraction experiment,
are reduced to one system.
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