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Commit 4ed12420 authored by Kyrre Ness Sjobaek's avatar Kyrre Ness Sjobaek
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Add main README

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Documentation/Electronic_box_top.JPG

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Documentation/Whole_view.png

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Documentation/Whole_view_small.png

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# CLEAR C-Robot
This repository contains the Arduino code for the CLEAR C-Robot, along with other documentation for it.
The robot is able to pick samples from a magazine, and place them at a variable position along the beam path.
For this, it uses two stepper motor stages, and a grabbing claw documented in [Documentation/CAD/Grabber/](Documentation/CAD/Grabber/README.md).
Furthermore, a GigE camera with a servo-controlled filter is located so that it sees the object held by the claw from the top, so that a YAG screen "sample" can be used to check beam profile and position.
Finally, up to two thermometers can be connected and read out remotely.
![A view of the whole robot](Documentation/Whole_view_small.png)
The electronics for the robot is located in an adjecent box, which is connected to the robot with long enough cables that it can be placed under the table the robot is sitting on, away from the beam.
![Electronics box](Documentation/Electronic_box_top_small.JPG)
The robot was made by A. Gilardi (initial concept, funding to buy first parts), K. Sjobak (Arduino code, MATLAB connection library, comissioning), P. Korysko (Sample magazine and holders, MATLAB GUI, hardware assembly, comissioning) and W. Farabolini (Hardware assembly, comissioning), and
More images and description is found at ()[https://pkorysko.web.cern.ch/C-Robot.html]
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