潘玉龙, 吴丹, 宋立滨, 陈恳, 刘飞. 多孔板微阵列制备机器人系统的设计与研究[J]. 机器人, 2011, 33(2): 136-141.
引用本文: 潘玉龙, 吴丹, 宋立滨, 陈恳, 刘飞. 多孔板微阵列制备机器人系统的设计与研究[J]. 机器人, 2011, 33(2): 136-141.
PAN Yulong, WU Dan, SONG Libin, CHEN Ken, LIU Fei. Design and Research of Robot Microarrayer System for Microplate[J]. ROBOT, 2011, 33(2): 136-141.
Citation: PAN Yulong, WU Dan, SONG Libin, CHEN Ken, LIU Fei. Design and Research of Robot Microarrayer System for Microplate[J]. ROBOT, 2011, 33(2): 136-141.

多孔板微阵列制备机器人系统的设计与研究

Design and Research of Robot Microarrayer System for Microplate

  • 摘要: 设计并研制了一种多孔板微阵列制备机器人系统.该系统机械手采用3自由度移动悬臂式正交结构,利用有限元法对该机械手结构的刚度进行了设计计算.给出了分样头清洗干燥、空气过滤净化、湿度控制的设计方案,建立了控制系统硬件结构和软件功能树.实验结果表明,样机自动化程度高,运行可靠,X、Y轴机械手重复定位精度达到±;3.6μm和±;2.8μm,能满足微阵列制需的生物学应用需求.

     

    Abstract: The robot microarrayer system for microplate is designed and developed.A 3-DOF sliding cantilever orthogonal structure is adopted in the manipulator,and the manipulator stiffness is calculated with finite element method.Meanwhile, the design proposal of print-head cleaning and drying,air purification and humidity control is given,and hardware structure and software function tree of the control system are set up.The experiment result shows that the model machine is highly automated and stable,the repeated positioning performances of manipulator,±3.6μm in X axes and±2.8μm in Y axes,can meet application requirements of microarray in biology.

     

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