Linear Gripper with Resilient Strips for Microtiter Plate Positioning
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Solution Overview
Problem
Existing laboratory automation systems face challenges in accurately and reliably handling microtiter plates due to positioning inaccuracies caused by light robot arms, which can result in unsuccessful grabbing and inaccurate placement, posing a barrier to wide-scale adoption.
Innovation Solution
A linear gripper with movable fingers and resilient cantilevers, equipped with protrusions or cut-outs, that accommodate for positional inaccuracies by allowing relative movement between the gripper and microtiter plate, ensuring secure and precise handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a light robot arm is used to handle microtiter plates, then the robot arm can be equipped with linear grippers and operate in laboratory environments, but positioning accuracy deteriorates due to arm flexing, actuator inaccuracy, and distance from base
Solution Approach 1:
The gripper uses resilient strips that can elastically deform to accommodate positioning inaccuracies. The resilient material properties allow the gripper to adapt to variations in MTP position and orientation, compensating for the light robot arm's positioning errors through elastic deformation rather than requiring high precision mechanical control
Solution Approach 2:
The gripper transitions from a rigid structure to a dynamic system with resilient strips that can adapt their shape and position. The resilient strips enable the gripper to dynamically adjust to misaligned MTPs, allowing the system to handle positioning variations that would fail with a rigid gripper design
2Reliability
If the gripper grabs the microtiter plate away from the specified location on the upright side walls, then the grabbing operation may succeed, but the positional placement accuracy at the destination deteriorates
Solution Approach 1:
The resilient strips allow the gripper to accommodate variations in gripping position on the MTP upright walls. By elastically deforming, the gripper can successfully grasp MTPs even when positioning is slightly off, while the resilient connection maintains proper orientation and placement accuracy at the destination
3Reliability
If notches and projections are used to securely hold the microtiter plate at a specified location, then gripping reliability improves, but the system becomes vulnerable to failures when the microtiter plate is not precisely at the expected location
Solution Approach 1:
The resilient strips act as flexible elements that replace rigid notches and projections. These thin, elastic strips can deform to accommodate MTPs at varying positions, providing both secure gripping and adaptability to positioning inaccuracies, eliminating the vulnerability of rigid engagement features
Solution Approach 2:
The resilient strips change their physical state from rigid to flexible during operation, allowing them to adapt to different MTP positions. This parameter change enables the gripper to maintain reliable gripping across a range of positions rather than requiring precise alignment
4Ease of operation
If the robot arm positioning is inaccurate, then operational flexibility is maintained, but the grabbing operation may fail due to excessive force exerted by the gripper
Solution Approach 1:
The resilient strips provide beforehand cushioning by absorbing positioning errors before they result in gripping failures. The elastic deformation of the resilient strips cushions the impact of positioning inaccuracies, preventing excessive force application that would trigger system shutdowns
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
The gripper effectively corrects for minor positioning errors, preventing damage to the microtiter plates and improving the reliability of transferring them to accurate locations, reducing the risk of liquid splashing and ensuring precise placement.
Implementation Method 1
the finger cantilever comprises two resilient strips between the primary element and the hinge, said resilient strips being mounted parallel with respect to each other and allowing movement of the primary element in a direction transverse to a plane of relative movement of the finger bodies
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
A gripper for moving a microtiter plate (190) using a robot arm (100) comprises a finger bodies (310), finger cantilevers (330), and resilient strips (370) so as to accommodate for inacurracies of the robot arm (100). The invention also relates to a method for moving a microtiter plate (190) with a robot arm (100) with improved reliability comprises the use of said gripper comprising two fingers (300) comprises independent of the other finger (300) a primary element chosen from i) a protrusion and ii) a cut-out capable of receiving the protrusion, and the MTP (190) comprising a secondary element that is the other of the primary element, and grabbing the plate (335) such that the primary and secondary element engage.