Multi-purpose 3-axis robot with submillimeter resolution. Possible applications: static/dynamic field mapping, CNC machinery, 3D printing etc.


Haopeng Han1, Raphael Moritz 1, Eva Oberacker 1, Helmar Waiczies 3, Thoralf Niendorf1,2,3, Lukas Winter4
, Benjamin Menküc5, Nils Allek5, Wolfgang Kilian4, Karl Stupic6, Berk Silemek4, David Shiers7, Mark Bason7


Estimated cost

€ 2.000


v1.0 (CERN OHL v1.2)



Discussions: Channel #cosi_measure in our Slack Team

Cost effective open source imaging (COSI) is a collaborative initiative currently building an affordable low field open source MR scanner. COSI Measure is an open source multipurpose 3-axis robot, that can be equipped with field mapping probes for static or dynamic field measurements (electromagnetic, temperature etc.). Submillimeter fidelity and reproducibility/backlash performance were evaluated experimentally. It can be potentially upgraded to be used as a CNC, for 3D printing or other applications, that require reproducible submillimeter movements. The system can be easily scaled to smaller volumes and lighter/cheaper materials (CAD files available).

System specifications:

Dimension: (80x90x105)cm³
Working volume: (53x53x64)cm³
Precision: positioning error <1mm
Speed: 37mm/s
Max load: 21kg
Applied force: 896N (91kg)
Standalone system: Beagle Bone Black, ARM Contex-A8 1GHz, 512MB DDR3, Programmable real-time unit subsystem
Inductive limit switches
Emergency stop button
Software: GUI (python)

Mapping the magnetic field of a Halbach magnet:

Mapping the stray magnetic field of a 3T MRI:

More videos can be found here (in the Electronic supplementary material).



1Berlin Ultrahigh Field Facility (B.U.F.F.), Max Delbrück Center for Molecular Medicine, Berlin, Germany
2Experimental and Clinical Research Center (ECRC), a joint cooperation between the Charité Medical Faculty and the Max Delbrück Center for Molecular Medicine, Berlin, Germany
3MRI.TOOLS GmbH, Berlin, Germany
4Physikalisch Technische Bundesanstalt (PTB), Berlin, Germany
5Univeristy of Applied Sciences and Arts, Dortmund, Germany
6National Institute of Standards and Technology (NIST), Boulder, USA
7University of Sussex, UK


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