Difference between revisions of "Team:Sherbrooke/Design"
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| − | This gripper kit was chosen because it uses Trossen Robotics' Dynamixel servomotors. Those servos are easy to control and their precision in movement allowed us to fall within the specification we needed for our gripper. They offer various options to monitor and use different operating values of the servo even during live operation allowing us to use them at our will to control the gripping function of our platform. The most useful Dynamxiel's control function is the torque limit that we can set to a custom value corresponding to the object we desire to grip. Also, the MX-12 was chosen for the gripper rotation because the angle of the servo can be monitored over 360°, unlike AX-12 Dynamixel which can only be monitored from -150° to 150°. | + | This gripper kit was chosen because it uses Trossen Robotics' Dynamixel servomotors. Those servos are easy to control and their precision in movement allowed us to fall within the specification we needed for our gripper. They offer various options to monitor and use different operating values of the servo even during live operation allowing us to use them at our will to control the gripping function of our platform. The most useful Dynamxiel's control function is the torque limit that we can set to a custom value corresponding to the object we desire to grip. Also, the MX-12 was chosen for the gripper rotation because the angle of the servo can be monitored over 360°, unlike AX-12 Dynamixel which can only be monitored from -150° to 150°. The servos assembly gives the gripper the ability to take narrow as well as wider objects, and it can grip them from top or from the side. It can also rotate on 360°. The gripper will be controlled by a dedicated BananaBoard. |
</p> | </p> | ||
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<h3>Specifications</h3> | <h3>Specifications</h3> | ||
<p> | <p> | ||
| − | ... | + | <table> |
| − | </p> | + | <tr> |
| + | <th>Specification</th> | ||
| + | <th>Value</th> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Weight</td> | ||
| + | <td>310 g</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Dimensions (Length x Width x Depth)</td> | ||
| + | <td>261mm x 94mm x 57 mm (At vertical rest)</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Fingertip precision</td> | ||
| + | <td>0.7 mm</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Fingertip speed</td> | ||
| + | <td>from 0 to 680 mm/s</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Fingertip torque</td> | ||
| + | <td>from 0 to 1.5N*m</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Rotation precision</td> | ||
| + | <td>0.088°</td> | ||
| + | </tr> | ||
| + | <tr> | ||
| + | <td>Rotation speed</td> | ||
| + | <td>from 0 to 470 rpm</td> | ||
| + | </tr> | ||
| + | </table> | ||
| + | </p> | ||
<br/> | <br/> | ||
<h3>Parts list</h3> | <h3>Parts list</h3> | ||
Revision as of 01:17, 31 August 2015
Design
Our robotic platform is composed of many modules, each with their own specifications, concept and functionalities. Each module is designed to be independent so they can operated alone or jointly with the other modules. The teamwork between every module is mainly managed by the Main Administrator that communicates with all of them, and controls them via a bus CAN and custom controller boards, named BananaBoard. In its entirety, the project has seven distinct modules: The platform, the tool holder support, the gripper, the centrifuge, the magneto caloric module for 96-well plate, the magneto caloric module for 1.5mL tube and the turbido agitator caloric module for glass tube. The global architecture of the robotic platform is as follows:
Biobot Project Global Architecture
In this page you will learn all there is to know about each of them, whether it is for the electrical, mechanical or software design. Scroll down or choose one module to learn about it.
Modules
- Platform
- Tool Holder Support
- Gripper
- Centrifuge
- Magneto Caloric 96 (MC96)
- Magneto Caloric 1.5 (MC1.5)
- Turbido Agitator Caloric (TAC)
- BananaBoard
- Controller
Platform
Description
The physical platform consists of everything related to the structure on which the movements take place. It is equipped with a motor and traction mechanism for each plane of movement, as well as indicators to locate the home position of each axis. Atop the structure is the travelling bridge and trolley, with the tool holder support. It holds the brackets on which the pipettes are fastened and is also the support for the gripper. Also on that support, are attached the actuators responsible for the pipetting action and the pipette tip releasing action. The movements and limit detection of the platform are supervised by a bought controller board: the SmoothieBoard. The robot does smooth and precise Cartesian movements and gives feedback on its position on demand. Our first version of the platform was the robot bought from OpenTrons. Since the beginning of the project, we build a completely new platform, which is bigger and stronger. The redesigned platform was quadrupled in size, the motors was changed for a stronger mand faster model, and the original work area with rails was changed for a pegboard for easier placement of the modules.
Biobot Project Physical Platform (La changer pour une récente avec les modifications)
The structure itself is made up of aluminium extrusions. Aluminum extrusions were selected due to its lightness, rather low costs and simplicity to sterilize, which is a great advantage for a platform used in a biology lab. When designing the platform, we sometimes created a first version using a 3D printer to validate our concept. After validation, most of those parts was replaced by a machined metal version.
Movements of the different axes are ensured by stepper motors to perform translations of the travelling bridge. For movements relative to the X and Y planes, two NEMA 23 stepper motors, model 17HS3001-20B, were used. They offer faster speeds, while still being precise as to 200 microns, which is useful to move the travelling bridge to a precise position without slowing down the whole process. These motors are attached to an endless screw which makes the travelling bridge move sideways. These are used because they can deliver fast speed, while being durable and reliable. Those two assets are significant since repetitive movements occur in the XY plane, which consequently deals more wear and tear.
Movement along the Z axis follow the same principle, with the NEMA 23 motors coupled with an endless screw. The particularity is that there is 3 Z axis for each of the tool that will be attached to the tool holder, namely, a single-channel pipette, a multi-channel pipette and the gripper. Each Z axis are composed of a C-Beam by OpenBuilds.
Specifications
Parts list
...
Assembly
...
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Tool Holder Support
Description
...
Specifications
...
Parts list
...
Assembly
...
Back to top
Gripper
Description
The finger-like gripper is design to allow the handling of lab-ware around the work area. It can moves tubes, micro-plate and different type of boxes around as needed. The gripper is fixed to one of the three z-axis of the tool holder support. It can therefore be used independently of the other tools on the support. The gripper is first composed of a Dual Gripper Kit from Crust Crawler Robotics. This kit uses two Trossen Robotics' Dynamixel AX-12 servomotors for the finger-like motion. We then added a third AX-12 servo to give the gripper wrist-like capabilities, adding flexion and extension movement. Lastly, a MX-12 servo was also added so the gripper can rotate around a vertical axis on 360°.
This gripper kit was chosen because it uses Trossen Robotics' Dynamixel servomotors. Those servos are easy to control and their precision in movement allowed us to fall within the specification we needed for our gripper. They offer various options to monitor and use different operating values of the servo even during live operation allowing us to use them at our will to control the gripping function of our platform. The most useful Dynamxiel's control function is the torque limit that we can set to a custom value corresponding to the object we desire to grip. Also, the MX-12 was chosen for the gripper rotation because the angle of the servo can be monitored over 360°, unlike AX-12 Dynamixel which can only be monitored from -150° to 150°. The servos assembly gives the gripper the ability to take narrow as well as wider objects, and it can grip them from top or from the side. It can also rotate on 360°. The gripper will be controlled by a dedicated BananaBoard.
Specifications
| Specification | Value |
|---|---|
| Weight | 310 g |
| Dimensions (Length x Width x Depth) | 261mm x 94mm x 57 mm (At vertical rest) |
| Fingertip precision | 0.7 mm |
| Fingertip speed | from 0 to 680 mm/s |
| Fingertip torque | from 0 to 1.5N*m |
| Rotation precision | 0.088° |
| Rotation speed | from 0 to 470 rpm |
Parts list
...
Assembly
...
Back to top
Centrifuge
Description
...
Specifications
...
Parts list
...
Assembly
...
Back to top
Magneto Caloric 96 (MC96)
Description
MC96 3D Plan
The first module is called Magneto Caloric 96 (MC96) because it has to manage magnetism and temperature cycling (caloric) of a 96-well plate. The main use of the MC96 is to apply a specific temperature on different liquids (e.g. cell cultures) in the context of biological research.
The module has the possibility to concentrate particles in these solutions by applying an electromagnetic field that will bring particles on the wall of the well. This is explained by the magnetic attraction of microscopic magnetic beads to which particles are agglomerated. The beads are to be introduced into the well during the procedure and this can also be automated.
To apply the electromagnetic field, neodymium magnets are moved to the side of the wells. To do so, the magnets are assembled in a frame that is moved by a linear actuator. So, when the actuator raises the frame, the magnets are moved near the wells and the beads are brought on the well’s wall.
To implement thermal cycling, a Peltier element is used because it can heat or cool the 96-well plate depending on the current’s direction. A heat sink is stick to the other side of the Peltier element to eliminate the heat produced by the Peltier element. The fan is used to create a forced convection thus, increasing the efficiency of the heat sink.Specifications
These characteristics are the specifications required by the client or part’s characteristics because no prototype has been built yet.
Thermal
| Specification | Value |
|---|---|
| Range | 0 to 80°C |
| Precision | ±1.5°C |
| Heating speed | 0.5-1°C/s |
| Cooling speed | 0.5-1°C/s |
| Specification | Value |
|---|---|
| Material | 96-well mold : Aluminium Frames and Module base : Plastic |
| Demensions | Width x Length x Heigth cm |
| Linear actuator speed | 12mm/s |
| Linear actuator stroke | 2cm |
| Specification | Value |
|---|---|
| Input voltage | 24V |
| Maximal power consumption | ≈800 Watts |
| Specification | Value |
|---|---|
| Language | C++ |
| Specification | Value |
|---|---|
| Range | 0 to 80°C |
| Precision | ±1.5°C |
| Heating speed | 0.5-1°C/s |
| Cooling speed | 0.5-1°C/s |
| Specification | Value |
|---|---|
| Material | 1.5ml test tube mold : Aluminium Frames and Module base : Plastic |
| Demensions | Width x Length x Heigth cm |
| Linear actuator speed | 12mm/s |
| Linear actuator stroke | 2cm |
| Specification | Value |
|---|---|
| Input voltage | 24V |
| Maximal power consumption | ≈800 Watts |
| Specification | Value |
|---|---|
| Language | C++ |
| Specification | Value |
|---|---|
| Range | 0 to 37°C |
| Precision | ±1.5°C |
| Heating speed | Achieved 1.2°C/s |
| Cooling speed | Achieved 0.3°C/s if tube temperature above room temperature Achieved 0.21°C/s if tube temperature below room temperature |
| Specification | Value |
|---|---|
| Material | 25mm test tube mold : Aluminium Frames and Module base : Plastic |
| Demensions | Width x Length x Heigth cm |
| DC motor speed | 60 to 600 rpm |
| Specification | Value |
|---|---|
| Input voltage | 24V |
| Maximal power consumption | ≈400 Watts |
| Turbidity measurement precision | ±5% from a reference turbidimeter |
| Specification | Value |
|---|---|
| Language | C++ |