title: PRIGo: a new multi-axis goniometer for macromolecular crystallography.
abstract: 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.
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Sandro
authors.initials: S
authors.lastname: Waltersperger
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Vincent
authors.initials: V
authors.lastname: Olieric
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Claude
authors.initials: C
authors.lastname: Pradervand
authors.affiliation: Centre Suisse d'Electronique et Microtechnique SA, Neuchâtel 2002, Switzerland.
authors.forename: Wayne
authors.initials: W
authors.lastname: Glettig
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Marco
authors.initials: M
authors.lastname: Salathe
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Martin R
authors.initials: MR
authors.lastname: Fuchs
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Adrian
authors.initials: A
authors.lastname: Curtin
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Xiaoqiang
authors.initials: X
authors.lastname: Wang
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Simon
authors.initials: S
authors.lastname: Ebner
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Ezequiel
authors.initials: E
authors.lastname: Panepucci
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Tobias
authors.initials: T
authors.lastname: Weinert
authors.affiliation: Dectris Ltd, Baden 5400, Switzerland.
authors.forename: Clemens
authors.initials: C
authors.lastname: Schulze-Briese
authors.affiliation: Swiss Light Source, Paul Scherrer Institute, Villigen PSI, Switzerland.
authors.forename: Meitian
authors.initials: M
authors.lastname: Wang
keywords: beamline endstation; collection strategy; diffraction data; diffractometer; macromolecular crystallography; multi-axis goniometry