Tri-Sphere Support and Positioning System

Six Degree-of-freedom Positioning System

Tri-sphere compact

Square One's Tri-Sphere is a fundamentally new type of positioning technology specifically designed to meet the stringent requirements of 3rd and 4th generation synchrotron light sources. The Tri-Sphere delivers precision adjustment in all six degrees of freedom while providing rock solid stability. While derived from the same class of mechanisms as hexapods, the Tri-Sphere's innovative design allows it to transcend the limitations of conventional six-axis positioners. Comprised exclusively of prismatic actuators, the Tri-Sphere is almost infinitely scalable and can generate large, highly asymmetric work envelopes.

Tri-sphere mini

The basic element of a Tri-Sphere is a "jack" that is adjustable in the vertical and one lateral direction but is unconstrained in the other lateral direction. Three of these jacks, each rotated 90° relative to its neighbour, are arranged in a triangle. The result is a kinematic adjustment system analagous to an optical gimble mount. A Tri-Sphere can accommodate thermal expansions and contractions of the object being supported due to its unique passive interfaces.

Tri-sphere model

A complementary controls architecture harnesses the Tri-Spere's inverse kinematic equations to translate and rotate components about any point in space with micron level resolution. An intuitive graphical user interface makes the system exceptionally easy to operate. The controls architecture also provides the sockets needed to seamlessly integrate the Tri-Sphere into EPICS or other lab-wide control networks.

The accuracy, precision and resolution of a Tri-Sphere system can be tailored to match an Application's requirements. The graphs below show the performance of a heavy duty jack at Lawrence Berkeley Laboratory.

Tri-sphere precision graph

Performance of a heavy duty jack at Lawrence Berkeley Laboratory
showing Precision and Accuracy

Tri-sphere resolution graph

Performance of a heavy duty jack at Lawrence Berkeley Laboratory
showing Resolution

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