Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR)
This study aims to provide a set of experimentally determined forces needed for gripping operations related to a robotically manipulated microliter manual pipette. The experiments are conducted within the scope of automated sample processing for polymerase chain reaction (PCR) analysis in small-size...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/1/2 |
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| author | Melania-Olivia Sandu Valentin Ciupe Corina-Mihaela Gruescu Robert Kristof Carmen Sticlaru Elida-Gabriela Tulcan |
| author_facet | Melania-Olivia Sandu Valentin Ciupe Corina-Mihaela Gruescu Robert Kristof Carmen Sticlaru Elida-Gabriela Tulcan |
| author_sort | Melania-Olivia Sandu |
| collection | DOAJ |
| description | This study aims to provide a set of experimentally determined forces needed for gripping operations related to a robotically manipulated microliter manual pipette. The experiments are conducted within the scope of automated sample processing for polymerase chain reaction (PCR) analysis in small-sized to medium-sized laboratories where dedicated automated equipment is absent and where procedures are carried out manually. Automation is justified by the requirement for increased efficiency and to eliminate possible errors generated by lab technicians. The test system comprises an industrial robot; a dedicated custom gripper assembly necessary for the pipette; pipetting tips; and mechanical holders for tubes with chemical substances and genetic material. The selected approach is to measure forces using the robot’s built-in force–torque sensor while controlling and limiting the pipette’s gripping force and the robot’s pushing force. Because the manipulation of different materials requires the attachment and discarding of tips to and from the pipette, the operator’s perceived tip release force is also considered. |
| format | Article |
| id | doaj-art-c4542e1f7e24498691ef3079e3c8fa34 |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-c4542e1f7e24498691ef3079e3c8fa342025-01-24T13:48:22ZengMDPI AGRobotics2218-65812024-12-01141210.3390/robotics14010002Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR)Melania-Olivia Sandu0Valentin Ciupe1Corina-Mihaela Gruescu2Robert Kristof3Carmen Sticlaru4Elida-Gabriela Tulcan5Department of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaDepartment of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaDepartment of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaDepartment of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaDepartment of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaDepartment of Mechatronics, Politehnica University of Timisoara, 300006 Timișoara, RomaniaThis study aims to provide a set of experimentally determined forces needed for gripping operations related to a robotically manipulated microliter manual pipette. The experiments are conducted within the scope of automated sample processing for polymerase chain reaction (PCR) analysis in small-sized to medium-sized laboratories where dedicated automated equipment is absent and where procedures are carried out manually. Automation is justified by the requirement for increased efficiency and to eliminate possible errors generated by lab technicians. The test system comprises an industrial robot; a dedicated custom gripper assembly necessary for the pipette; pipetting tips; and mechanical holders for tubes with chemical substances and genetic material. The selected approach is to measure forces using the robot’s built-in force–torque sensor while controlling and limiting the pipette’s gripping force and the robot’s pushing force. Because the manipulation of different materials requires the attachment and discarding of tips to and from the pipette, the operator’s perceived tip release force is also considered.https://www.mdpi.com/2218-6581/14/1/2robotic handlingforce measurementpipetting device |
| spellingShingle | Melania-Olivia Sandu Valentin Ciupe Corina-Mihaela Gruescu Robert Kristof Carmen Sticlaru Elida-Gabriela Tulcan Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) Robotics robotic handling force measurement pipetting device |
| title | Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) |
| title_full | Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) |
| title_fullStr | Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) |
| title_full_unstemmed | Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) |
| title_short | Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR) |
| title_sort | determining the proper force parameters for robotized pipetting devices used in automated polymerase chain reaction pcr |
| topic | robotic handling force measurement pipetting device |
| url | https://www.mdpi.com/2218-6581/14/1/2 |
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