Waltersperger Sandro, Olieric Vincent, Pradervand Claude, Glettig Wayne, Salathe Marco, Fuchs Martin R, Curtin Adrian, Wang Xiaoqiang, Ebner Simon, Panepucci Ezequiel, Weinert Tobias, Schulze-Briese Clemens, Wang Meitian
Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
Centre Suisse d'Electronique et Microtechnique SA, Neuchâtel 2002, Switzerland.
J Synchrotron Radiat. 2015 Jul;22(4):895-900. doi: 10.1107/S1600577515005354. Epub 2015 May 9.
The Parallel Robotics Inspired Goniometer (PRIGo) is a novel compact and high-precision goniometer providing an alternative to (mini-)kappa, traditional three-circle goniometers and Eulerian cradles used for sample reorientation in macromolecular crystallography. Based on a combination of serial and parallel kinematics, PRIGo emulates an arc. It is mounted on an air-bearing stage for rotation around ω and consists of four linear positioners working synchronously to achieve x, y, z translations and χ rotation (0-90°), followed by a ϕ stage (0-360°) for rotation around the sample holder axis. Owing to the use of piezo linear positioners and active correction, PRIGo features spheres of confusion of <1 µm, <7 µm and <10 µm for ω, χ and ϕ, respectively, and is therefore very well suited for micro-crystallography. PRIGo enables optimal strategies for both native and experimental phasing crystallographic data collection. Herein, PRIGo hardware and software, its calibration, as well as applications in macromolecular crystallography are described.
受并联机器人启发的测角仪（PRIGo）是一种新型的紧凑型高精度测角仪，它为（微型）卡帕测角仪、传统三圆测角仪和用于大分子晶体学中样品重新定向的欧拉摇篮提供了一种替代方案。基于串联和并联运动学的组合，PRIGo模拟了一个圆弧。它安装在空气轴承平台上以围绕ω轴旋转，由四个同步工作的线性定位器组成，用于实现x、y、z平移和χ旋转（0 - 90°），随后是一个用于围绕样品架轴旋转的ϕ平台（0 - 360°）。由于使用了压电线性定位器和主动校正，PRIGo的ω、χ和ϕ的混淆球分别小于1 µm、7 µm和10 µm，因此非常适合微晶学。PRIGo为天然和实验相位晶体学数据收集提供了最佳策略。本文描述了PRIGo的硬件和软件、其校准以及在大分子晶体学中的应用。
