Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system

Autor:	Artem Voloshkin, Larisa Rybak, Vladislav Cherkasov, Giuseppe Carbone
Rok vydání:	2022
Předmět:	Control and Optimization Control and Systems Engineering General Mathematics Mechanical Engineering Modeling and Simulation Software Computer Science Applications
Zdroj:	Robotica. 40:4570-4585
ISSN:	1469-8668 0263-5747
Popis:	Every year the shortage of biosamples is increasing, while the requirements for their quality are constantly tightening, which requires the introduction of new technological solutions. To solve these problems, a robotic system for aliquoting biological liquid was developed. The aliquotation process is described. The station includes a serial robot on which a gripper based on a globoid worm is installed. The gripping device is parameterized and takes into account the gripping force for different finger deflections. 3D models were developed using Computer Aided Design (CAD) system tools, after which working layouts were created using 3D printing. The design process and test results are discussed to show the efficiency of the built prototype with lab tests.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::18f0d4a57a903cfa274e1261bb08697d https://doi.org/10.1017/s0263574722001114 Zobrazit plný text záznamu