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Published January 11, 2023 | public
Journal Article

Conceptual design of a Robotic Arm for the maintenance of the Read-Out Units of the Mu2e electromagnetic calorimeter


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.

Additional Information

© 2022 Published by Elsevier. We are grateful for the vital contributions of the Fermilab staff and the technical staff of the participating institutions. This work was supported by the US D.O.E.; the I.N.F.N., Italy; the Science and Technology Facilities Council, UK; the Ministry of Education and Science, Russian Federation; the National Science Foundation, USA; the Thousand Talents Plan, China; the Helmholtz Association, Germany; and the EU Horizon 2020 Research and Innovation Program under the Marie Sklodowska-Curie Grant Agreement No. 690385,734303, 822185, 858199, 101003460. This document was prepared by members of the Mu2e Collaboration using the resources of the Fermi National Accelerator Laboratory (Fermilab), a U.S. D.O.E., Office of Science, HEP User Facility. Fermilab is managed by F.R.A., LLC (FRA), acting under Contract No. DE-AC02-07CH11359. The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Additional details

August 22, 2023
October 20, 2023