An Automated Magnet Positioning System for Use in the Next Linear Collider

76147-The Next Linear Collider (NLC) will use a beam-based alignment strategy to measure and then correct errors in the positions of the lattice elements. To implement this strategy, ultra-high-resolution beam position monitors and automated component adjustment systems have been identified as critical enabling technologies. This project will develop a fully-automated precision manipulator, the ¿Tri-Sphere¿ Adjustment System, which would be uniquely well suited for applications throughout the NLC. This system will possess six, non-redundant degrees of freedom, be capable of sub-micron resolutions, and have a load capacity in excess of 10,000 kg. Phase I will include a detailed manipulator design, solution of the associated forward and inverse kinematic equations of motion, and selection of optimized actuators, gear reducers and linear motion hardware. The Phase I effort will culminate in the fabrication and technical evaluation of a Tri-Sphere Adjustment System prototype. Commercial Applications and Other Benefits as described by the awardee: A versatile, high-payload, positioning system such as the Tri-Sphere would be of immediate benefit to a variety of scientific and commercial activities, including the remote adjustment of critical fusion optics, the focusing of large detector elements, and the active fixturing of multi-ton machine chasses during automated machining and welding.