Olea, G. Huber, N. JACoW Publishing Geneva, Switzerland 978-3-95450-207-3 10.18429/JACoW-MEDSI2018-WEPH21 English 249-251 WEPH21 synchrotron GUI instrumentation scattering Contribution to a conference proceedings 2018 2018-12 https://doi.org/10.18429/JACoW-MEDSI2018-WEPH21 http://jacow.org/medsi2018/papers/weph21.pdf A family of reconfigurable devices able to work in synchrotron applications, especially in diffractometer environments has been developed. It can provide six (6) or less than six (<6) degrees of freedom (dof) motion capabilities (F<=6) being able to pose a heavy load sample (instruments) with high precision towards an X-ray coming beam. It is based on the Parallel Kinematics (PK) Quatropod concept with redundant actuation (Rd=2) and were built around the fully (F=6dof) basic topology 6-4(213) where 2-actuated and 1, 3-passive joints, respectively. By altering the passive joints dof, structures with less than six dof (F<6) can be obtained, e.g. 5-4[213(2)]/F=5, 4-4[213(1)]/F=4, 3-4[213(0)]/F=3 (3(2) and 3(1)and 3(0) stand for 3dof joint with constrained(less) dof - f=2, 1 or 0/blocked). For a perfect symmetric arrangement and using only P and S (P-prismatic, S-spherical) joints, several useful positioning mechanisms are presented. And, in the design phase, 2dof linear actuators(2P), e.g. XY stages have been proved to be a suitable choice, too.