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gripping kinematics

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Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system
Artem Voloshkin, Larisa Rybak, Vladislav Cherkasov, Giuseppe Carbone
Journal:

Robotica / Volume 40 / Issue 12 / December 2022

Published online by Cambridge University Press:

10 August 2022, pp. 4570-4585
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Every year the shortage of biosamples is increasing, while the requirements for their quality are constantly tightening, which requires the introduction of new technological solutions. To solve these problems, a robotic system for aliquoting biological liquid was developed. The aliquotation process is described. The station includes a serial robot on which a gripper based on a globoid worm is installed. The gripping device is parameterized and takes into account the gripping force for different finger deflections. 3D models were developed using Computer Aided Design (CAD) system tools, after which working layouts were created using 3D printing. The design process and test results are discussed to show the efficiency of the built prototype with lab tests.