Mobile device for irradiation and detection of radiation

A mobile robotic apparatus comprising:

• a source for radiating a specimen, wherein said apparatus is configured to move along a controlled trajectory to observe, from different positions, radiation emitted from an irradiated area of the specimen which is either mobile or fixed;
• a mobile surface (10), a first shelf (12) and a central shaft (11) coupled therebetween the mobile surface and first shelf, the central shaft being mechanically, electrically or manually movable and configured to move the first shelf (12) vertically along a z-axis with respect to the mobile surface, a second shelf mounted over said first shelf and configured to slidably move horizontally along an x-axis and y-axis with respect to the first shelf (12) by mechanical gears and guides which are controlled manually or electrically;
• and
• three robots (14, 15, 16) including a central robot (15) and two external robots (14, 16) which are arranged to define a mobile virtual goniometer, each said robot being configured to move along a predetermined and controlled trajectory and comprising a base (17) coupled to the second shelf, a lower arm (18) extending from the base, and an upper arm (18′) having a proximate end joined through a joint (19) to the lower arm, the joint being configured to rotate the upper arm (18′) with respect to the lower arm (18), and the upper arm (18′) having a free end opposite to the joint (19), wherein the free end of one of the two external robots supports the source of radiation (20), the free end of the other external robot supports a detector (21), and wherein the free end of the upper arm of the central robot (15) supports a pointing system with a centring window (22).