Impedance Sensor Workspace Framing for Robotic Fluid Handlers
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Solution Overview
Problem
Existing fluid handling systems face challenges in accurately registering locations within their workspace without pre-installed landmarks, requiring specialized equipment and being limited to specific framing procedures, which complicates the use of generic labware and handling of varying-sized pipette tips.
Innovation Solution
The system employs an impedance-based sensor to detect contact with inherent structural features of the workspace or labware, allowing for precise location registration without added landmarks, enabling the use of generic labware and accommodating different pipette tip sizes through contact with multiple features to determine specific locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pre-installed landmarks (conducting, reflective, or mechanical switches) are used for framing, then location registration can be achieved, but specialized equipment and added structures are required, reducing versatility
Solution Approach 1:
The system uses the labware's own inherent structural features (edges, corners, surfaces) as landmarks for framing, eliminating the need for externally added landmarks. The labware serves itself as the reference structure, enabling universal compatibility across different labware types without requiring manufacturer-specific modifications.
Solution Approach 2:
The framing system is designed to work with any labware that has basic geometric features, making it universally applicable across different manufacturers and labware types. The sensor can detect various structural features (edges, corners, surfaces) common to all labware, creating a multi-functional framing capability.
2Measurement precision
If non-contact sensors (capacitance or optical) are used, then landmark detection is enabled, but pre-existing specialized landmarks must be installed, increasing device complexity
Solution Approach 1:
The solution extracts the landmark function from separate specialized components and integrates it into the inherent structure of the labware itself. By removing the need for dedicated landmarks and using the labware's own geometry, the system reduces overall device complexity while maintaining detection capability.
Solution Approach 2:
The sensor acts as an intermediary that can detect various types of structural features (edges, corners, surfaces) without requiring them to be specialized landmarks. This mediator approach allows the system to work with generic structures through indirect detection of their geometric properties.
3Measurement precision
If framing is limited to specific pre-defined landmark locations, then registration can be performed, but flexibility in workspace utilization is reduced
Solution Approach 1:
The framing system transitions from static pre-defined landmark locations to dynamic feature detection. The sensor can identify and adapt to structural features at any location within the workspace, allowing flexible workspace configuration while maintaining registration accuracy through real-time feature detection.
4Measurement precision
If end effector must be brought into engagement with mechanical switch, then framing can be performed, but forces affecting end effector position are introduced
Solution Approach 1:
The system replaces mechanical switch engagement with non-contact sensor detection. This substitution eliminates the need for physical contact and the associated forces that could displace the end effector, thereby maintaining framing capability while improving position stability and measurement reliability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables accurate and flexible framing procedures, allowing the system to work with generic labware and varying pipette tip sizes, improving precision and adaptability in fluid handling tasks.
Implementation Method 1
an impedance-based sensor to detect contact with inherent structural features of the workspace or labware
Data Source
AI summary
A method of framing a workspace for a working tool of a robotic fluid handler comprises positioning a liquid dispenser within a workspace of the robotic fluid handler using a transport device, moving the liquid dispenser to a general location of a component of the workspace, contacting the liquid dispenser to multiple features of the component, determining a specific location for the general location based on contacting of the liquid dispenser to the multiple features, and registering the specific location to the workspace.