Figure 2.

Kinematic structure of PRIGo. The PRIGo mechanism is driven by four linear positioners (or sliders), three of which are connected via a leg, comprising a pivot hinge and a ball joint, to a central tetrahedron shaped part, the so-called ‘Orion table’. The fourth linear positioner is responsible for tilting the ϕ rotation stage. Translations at the sample position, as well as the χ rotation, are achieved with synchronous movements of all four linear positioners. The ϕ stage rotates the sample around the sample holder axis, whereas the ω rotation can be performed by any conventional rotary stage. Numbered PRIGo parameters are preceded by l.