Difference between revisions of "Team:Sherbrooke/Design"

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<h1>Design</h1>
 
<h1>Design</h1>
 
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<p>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 holding 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:
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<p>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:
 
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<ul>
 
<ul>
 
<li><a href="#Platform">Platform</a></li>
 
<li><a href="#Platform">Platform</a></li>
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<li><a href="#Tool">Tool Holding Support</li>
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<li><a href="#Tool">Tool Holder Support</a></li>
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<li><a href="#Gripper">Gripper</li>
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<li><a href="#Gripper">Gripper</a></li>
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<li><a href="#Centrifuge">Centrifuge</li>
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<li><a href="#Centrifuge">Centrifuge</a></li>
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<li><a href="#MC96">Magneto Caloric 96 (MC96)</li>
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<li><a href="#MC96">Magneto Caloric 96 (MC96)</a></li>
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<li><a href="#MC15">Magneto Caloric 1.5 (MC1.5)</li>
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<li><a href="#MC15">Magneto Caloric 1.5 (MC1.5)</a></li>
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<li><a href="#TAC">Turbido Agitator Caloric (TAC)</li>
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<li><a href="#TAC">Turbido Agitator Caloric (TAC)</a></li>
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<li><a href="#BB">BananaBoard</li>
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<li><a href="#BB">BananaBoard</a></li>
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<li><a href="#Controller">Controller</li>
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<li><a href="#Controller">Controller</a></li>
 
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</ul>
 
<span id="Platform"> &nbsp; </span>
 
<span id="Platform"> &nbsp; </span>
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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, 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 called the SmoothieBoard. The robot does fluid and precise Cartesian movements and gives feedback on its position on demand. The platform was part of the first version of the whole robot bought from OpenTrons. Since the acquisition, it received a lot of modification. It's was doubled in size, <span style="color:red">the motors was changed for another model for X and X reasons</span> and the original work area with rails was changed for a pegboard for easier placement of the modules.
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<div class="imageContainer">
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<img height="100%" src="https://static.igem.org/mediawiki/2015/0/04/Team_Sherbrooke_Platform.jpg" /><br/>
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<p>Biobot Project Physical Platform (La changer pour une récente avec les modifications)</p>
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</div>
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<a href="#top_menu_under">Back to top</a>
 
<a href="#top_menu_under">Back to top</a>
 
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<span id="Tool"> &nbsp; </span>
 
<span id="Tool"> &nbsp; </span>
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<h2>Tool Holding Support</h2>
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<h2>Tool Holder Support</h2>
 
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<a href="#top_menu_under">Back to top</a>
 
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<span id="TAc"> &nbsp; </span>
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<span id="TAC"> &nbsp; </span>
 
<h2>Turbido Agitator Caloric (TAC)</h2>
 
<h2>Turbido Agitator Caloric (TAC)</h2>
 
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Revision as of 23:27, 5 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

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, 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 called the SmoothieBoard. The robot does fluid and precise Cartesian movements and gives feedback on its position on demand. The platform was part of the first version of the whole robot bought from OpenTrons. Since the acquisition, it received a lot of modification. It's was doubled in size, the motors was changed for another model for X and X reasons 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)

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Tool Holder Support

...

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Gripper

...

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Centrifuge

...

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Magneto Caloric 96 (MC96)

...

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Magneto Caloric 1.5 (MC1.5)

...

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Turbido Agitator Caloric (TAC)

...

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BananaBoard

...

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Controller

...

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Also in "Project"