高通量系统中微板递送的实验室自动化无人机

Dongbin Kim, P. Oh
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引用次数: 3

摘要

本文提出了一种用于高通量系统(HTS)的实验室自动化无人机概念设计。将6自由度并联机械臂和并联传感器夹持器固定在旋翼机上。该机械手-夹持器允许灵巧的微板广泛用于样品测试在高通量系统交付。为了测试和评估,概念设计在两个使用微板的拾取和放置实验中进行了部署。首先将机械手-抓手系统连接到龙门吊系统上,然后在四轴飞行器上进行动作捕捉空间内手动飞行的测试。结果证明了设计的可行性,并指出了未来自主飞行稳定控制的工作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Toward Lab Automation Drones for Micro-plate Delivery in High Throughput Systems
In this paper, the author presents a lab automation drone concept design for high throughput systems(HTS). A 6 degree-of-freedom (6-DOF) parallel manipulator and parallel sensorized gripper are affixed together to a rotorcraft. The manipulator-gripper allows dexterously delivery of micro-plates broadly used for sample-testing in high throughput systems. For testing and evaluation, the concept design is deployed in two pick-and-place experiments using micro-plates. First the manipulator-gripper system is attached to a gantry crane system, then it is tested on a quadcopter under manual flight within motion capture space. The results demonstrate the viability of the design and point towards future work on stability controls for autonomous flight.
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