Microwave acid sample decomposition for elemental analysis

resistant version of the standard Zymark arm was chosen for this project. A special problem was posed, however, in the handling of these solutions in the volumes required (10-300 mL) without contaminating the delivery devices. A solution was found through the use of peristaltic pumps and three-way pinch valves. These components were assembled into a pump station controlled by digital signals from Zymark's Power and Event Controller [4]. Between test firings, the tygon tubing is replaced to avoid cross-contamination. In addition, the master solutions are shielded in a lead brick lined enclosure-the robot workcell is itself not enclosed. The system that required the most extensive modification is currently enclosed in a stainless steel glovebox [5]. This application called for the transfer of samples of Pu-238 oxides into and out of calorimeters for measurement of their heat output. Pu-238 is an intense alpha emitter and, as an oxide, the particulate acquires a charge. These charged particles are very mobile, quickly contaminate any space, and even migrate into conductors shorting them eventually. All drive electronics were removed from the Zymark robot base and wrist, coatings were removed, and all plastic components were replaced with metal. The only components remaining with the robot arm are the servo motors and feedback potentiometers. Remoted electronics were placed in a separate housing and cabled to through the wall of the glovebox using special hermetically sealed feedthrough connectors. Our experience with radiation environments, gloveboxes, and existing laboratories have led us to begin design of our own robotic arm. The system will be of a gantry geometry and be modular in the x and y dimensions in increments of 6 inches. This will allow us to size the robot to the existing work space and the intended application. The z-axis will be telescoping in on itself to limit the overall height of the robot. The gantry design permits maximum use of the bench space or glovebox floor for modules, while the robot itself uses previously unused space overhead. Laboratory remodelling costs will thus be circumvented. Additional specifications have been reviewed by many researchers and address such areas as material compatibility, precision, controller architecture, tool changing, etc. The arm will be compatible with other commercially available laboratory robotic modules (i.e., syringe stations, balances, centrifuges, etc.). We anticipate having prototypes available within 2 years. References