Abstract
In Superconducting Radio Frequency (SRF) cryomodules, precise alignment of cavities is necessary to ensure high beam quality and to increase the overall energetic efficiency. In the SSR1 (Single Spoke Resonator 1) cryomodule, the cavities are aligned using a system of seven screws which allows to control five Degree of Freedoms (DOFs). The relation between the rotation of each screw and the movement of the cavity is non-linear, thus the aligning process, currently based on a trial-and-error procedure, can be time consuming and affected by human error. In this paper the design of an alignment mathematical model, based on the serial robot kinematic, is described and tested on a SSR1 cavity. The goal of the proposed model is to give a step by step operational procedure that bring the SSR1 cavity to a desired location reducing the uncertainties related to the current operator-driven alignment process.