Conceptual Design of a Robotic Arm for the Maintenance of the Read-Out Units of the Mu2e Electromagnetic Calorimeter

N. Atanov,V. Baranov,L. Borrel,C. Bloise,J. Budagov,S. Ceravolo,F. Cervelli,F. Colao,M. Cordelli,Y. I. Davydov,S. Di Falco,E. Diociaiuti, S. Donati, A. D'Agliano,B. Echenard,C. Ferrari,A. Gioiosa,S. Giovannella,V. Giusti,V. Glagolev,D. Hampai, F. Happacher, D. Hitlin, D. Lin, M. Martini,S. Middleton,S. Miscetti,L. Morescalchi,D. Paesani, D. Pasciuto,E. Pedreschi, F. Porter,F. Raffaelli,A. Saputi, I. Sarra, F. Spinella, A. Taffara,G. F. Tassielli,V. Tereshchenko,Z. Usubov,I. I. Vasilyev, A. Zanetti, R. Y. Zhu

Nuclear instruments and methods in physics research Section A, Accelerators, spectrometers, detectors and associated equipment/Nuclear instruments & methods in physics research Section A, Accelerators, spectrometers, detectors and associated equipment（2023）

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摘要

The Calorimeter of the Mu2e experiment is a complicated detector made of crystal scintillators with dedicated read-out electronics per crystals. The compactness of the Front-End Units matrix, the complexity of the necessary services, and the limited space available after detector installation in the experimental hall make access, manipulation and maintenance of the Front-End Units very hard. This paper reports on the conceptual mechanical design of a robotic arm composed of a gantry structure for xyz positioning on the desired Front-End Unit and equipped with custom-designed grippers to perform the necessary maintenance operations. This includes the optimization of the Front-End Units cables routing.

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关键词

Calorimeter,Maintenance,Engineering,Robot,Particle physics

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