Mobile Manipulator and Workbench Robot for Flexible Cell Passaging
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Solution Overview
Problem
Conventional robot systems require dedicated experimental environments that are separate from typical laboratory settings, making them inflexible for shared use with researchers and inefficient for processes like cell passaging, which often involve small-scale, variable procedures.
Innovation Solution
A robot system comprising a mobile manipulator and a workbench robot, both controlled by an integrated controller, that can operate in a standard laboratory environment, performing cell passaging tasks such as conveyance and installation of containers between workbenches and other facilities, mimicking researcher workflows.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a dedicated robot experimental environment is prepared with specialized devices and instruments, then automation capability is improved, but flexibility for shared use with researchers deteriorates
Solution Approach 1:
The robot system is designed to perform multiple functions: it can conduct cell passaging experiments autonomously, assist researchers during experiments, and adapt to different experimental configurations. The mobile manipulator can navigate laboratory floors and interact with various standard laboratory devices, while the fixed manipulator handles precise operations on the workbench, creating a universal system that serves both automated and collaborative purposes.
Solution Approach 2:
The system incorporates a mobile manipulator that can dynamically reposition itself and adjust its configuration based on experimental needs. The mobile platform allows the robot to move between different locations in the laboratory, adapt to changing experimental setups, and transition between autonomous operation and researcher collaboration modes, providing dynamic adaptability rather than a static dedicated environment.
2Productivity
If a large-scale dedicated environment for robots is prepared, then automation performance is improved, but the number of preparatory steps increases
Solution Approach 1:
The robot system is divided into two independent manipulators with distinct functions: a mobile manipulator for navigation and gross movements, and a fixed manipulator for precise experimental operations. This segmentation allows each component to be optimized independently and reduces the complexity of preparatory steps, as the mobile unit can be positioned and configured separately from the fixed workbench setup.
Solution Approach 2:
The mobile manipulator serves as an intermediary between the laboratory environment and the fixed manipulator. It transports containers and materials to the workbench area, enabling the fixed manipulator to focus on precise operations without needing to handle all tasks. This intermediary role reduces preparatory steps by automating material transport and setup tasks.
3Manufacturing precision
If conventional robot systems use dedicated devices for specific processing, then processing precision is improved, but device complexity increases
Solution Approach 1:
The system merges the functions of multiple dedicated devices into a single integrated robot platform. The mobile manipulator combines navigation, material handling, and interaction capabilities, while the fixed manipulator integrates precise positioning and experimental operation functions. This merging reduces overall device complexity compared to having separate dedicated devices for each function while maintaining processing precision through coordinated operation of the combined system.
Data Source
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AI summary
A robot system (100) includes: a mobile manipulator (10) that has a mechanism for moving on a floor and a mechanism for holding an object; a workbench robot (20) that is fixed to a workbench and that has a mechanism for holding an object on the workbench; and a controller (30) that controls an operation of each of the mobile manipulator (10) and the workbench robot (20), in which the controller (30) causes the workbench robot (20) and the mobile manipulator (10) to perform a passaging process of cells, the passaging process including conveyance and installation of a container containing the cells between the workbench and another experimental facility.