Synthetic Biology Journal ›› 2021, Vol. 2 ›› Issue (1): 134-144.DOI: 10.12211/2096-8280.2020-059
• Invited Review • Previous Articles
Wei ZHU1,2, Wenling ZHAO1,2, Kai HE1,2
Received:
2020-04-04
Revised:
2020-11-17
Online:
2021-03-12
Published:
2021-03-22
Contact:
Kai HE
朱伟1,2, 赵文亮1,2, 何凯1,2
通讯作者:
何凯
作者简介:
朱伟(1991-),男,硕士,助理工程师,主要研究方向为机械结构设计、运动控制、机器视觉。E-mail:wei.zhu@siat.ac.cn基金资助:
CLC Number:
Wei ZHU, Wenling ZHAO, Kai HE. Design and experimental research of new robot for clone selection[J]. Synthetic Biology Journal, 2021, 2(1): 134-144.
朱伟, 赵文亮, 何凯. 新型克隆挑取机器人设计与实验研究[J]. 合成生物学, 2021, 2(1): 134-144.
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URL: https://synbioj.cip.com.cn/EN/10.12211/2096-8280.2020-059
引脚 | 信号 | 功能 |
---|---|---|
1 | EXO 0 | 一号气爪输出 |
2 | EXO 1 | 二号气爪输出 |
3 | EXO 2 | 三号气爪输出 |
4 | EXO 3 | 四号气爪输出 |
5 | EXO 4 | 五号气爪输出 |
6 | EXO 5 | 六号气爪输出 |
7 | EXO 6 | 七号气爪输出 |
8 | EXO 7 | 八号气爪输出 |
9 | EXO 8 | 一号气缸输出 |
10 | EXO 9 | 二号气缸输出 |
11 | EXO 10 | 三号气缸输出 |
Tab. 2 Address allocation and function of the output ports
引脚 | 信号 | 功能 |
---|---|---|
1 | EXO 0 | 一号气爪输出 |
2 | EXO 1 | 二号气爪输出 |
3 | EXO 2 | 三号气爪输出 |
4 | EXO 3 | 四号气爪输出 |
5 | EXO 4 | 五号气爪输出 |
6 | EXO 5 | 六号气爪输出 |
7 | EXO 6 | 七号气爪输出 |
8 | EXO 7 | 八号气爪输出 |
9 | EXO 8 | 一号气缸输出 |
10 | EXO 9 | 二号气缸输出 |
11 | EXO 10 | 三号气缸输出 |
循环次数 | 气爪编号 | |||
---|---|---|---|---|
取针 | 挑取 | 接种 | 落针 | |
1 | 5 | 7 | 3 | 4 |
2 | 4 | 6 | 2 | 3 |
3 | 3 | 5 | 1 | 2 |
4 | 2 | 4 | 8 | 1 |
5 | 1 | 3 | 7 | 8 |
6 | 8 | 2 | 6 | 7 |
7 | 7 | 1 | 5 | 6 |
8 | 6 | 8 | 4 | 5 |
Tab. 3 Picking function of the needles on each pneumatic gripper in a full-load working cycle
循环次数 | 气爪编号 | |||
---|---|---|---|---|
取针 | 挑取 | 接种 | 落针 | |
1 | 5 | 7 | 3 | 4 |
2 | 4 | 6 | 2 | 3 |
3 | 3 | 5 | 1 | 2 |
4 | 2 | 4 | 8 | 1 |
5 | 1 | 3 | 7 | 8 |
6 | 8 | 2 | 6 | 7 |
7 | 7 | 1 | 5 | 6 |
8 | 6 | 8 | 4 | 5 |
引脚 | 信号 | 功能 |
---|---|---|
1 | HOME 0 | 一轴原点输入 |
2 | HOME 1 | 二轴原点输入 |
3 | HOME 2 | 三轴原点输入 |
4 | HOME 3 | 四轴原点输入 |
5 | LIMIT 0+ | 一轴正向限位 |
6 | LIMIT 0- | 一轴负向限位 |
7 | LIMIT 1+ | 二轴正向限位 |
8 | LIMIT 1- | 二轴负向限位 |
9 | LIMIT 2+ | 三轴正向限位 |
10 | LIMIT 2- | 三轴负向限位 |
11 | LIMIT 3+ | 四轴正向限位 |
12 | LIMIT 3- | 四轴负向限位 |
13 | EXI 0 | 转盘零点输入 |
14 | EXI 1 | 转块零点输入 |
15 | EXI 2 | 转块一孔有无输入 |
16 | EXI 3 | 转块二孔有无输入 |
Tab. 1 Address allocation and function of the input ports
引脚 | 信号 | 功能 |
---|---|---|
1 | HOME 0 | 一轴原点输入 |
2 | HOME 1 | 二轴原点输入 |
3 | HOME 2 | 三轴原点输入 |
4 | HOME 3 | 四轴原点输入 |
5 | LIMIT 0+ | 一轴正向限位 |
6 | LIMIT 0- | 一轴负向限位 |
7 | LIMIT 1+ | 二轴正向限位 |
8 | LIMIT 1- | 二轴负向限位 |
9 | LIMIT 2+ | 三轴正向限位 |
10 | LIMIT 2- | 三轴负向限位 |
11 | LIMIT 3+ | 四轴正向限位 |
12 | LIMIT 3- | 四轴负向限位 |
13 | EXI 0 | 转盘零点输入 |
14 | EXI 1 | 转块零点输入 |
15 | EXI 2 | 转块一孔有无输入 |
16 | EXI 3 | 转块二孔有无输入 |
选取点 | 实际坐标(mm) | 定位坐标(mm) | (ΔX,ΔY) | 误差 |
---|---|---|---|---|
1 | (-10.000,10.000) | (-10.031,10.005) | (-0.031,0.005) | 0.031 |
2 | (-20.000,20.000) | (-20.034,20.006) | (-0.034,0.006) | 0.035 |
3 | (-30.000,30.000) | (-30.013,30.006) | (-0.013,0.006) | 0.014 |
4 | (-30.000,10.000) | (-30.008,10.027) | (-0.008,0.027) | 0.028 |
5 | (-10.000,30.000) | (-10.021,29.985) | (-0.021,-0.015) | 0.026 |
6 | (10.000,10.000) | (9.994,10.009) | (-0.006,0.009) | 0.011 |
7 | (20.000,20.000) | (20.008,20.003) | (0.008,0.003) | 0.009 |
8 | (30.000,30.000) | (30.057,30.001) | (0.057,0.001) | 0.057 |
9 | (30.000,10.000) | (29.980,10.015) | (-0.020,0.015) | 0.025 |
10 | (10.000,30.000) | (10.044,29.996) | (0.044,-0.004) | 0.044 |
11 | (10.000,-10.000) | (9.998,-10.001) | (-0.002,-0.001) | 0.002 |
12 | (20.000,-20.000) | (20.005,-20.037) | (0.005,-0.037) | 0.037 |
13 | (30.000,-30.000) | (30.035,-30.065) | (0.035,-0.065) | 0.074 |
14 | (30.000,-10.000) | (29.994,-10.009) | (-0.006,-0.009) | 0.011 |
15 | (10.000,-30.000) | (10.027,-30.037) | (0.027,-0.037) | 0.046 |
16 | (-10.000,-10.000) | (-10.018,-10.001) | (-0.018,-0.001) | 0.018 |
17 | (-20.000,-20.000) | (-20.002,-20.004) | (-0.002,-0.004) | 0.004 |
18 | (-30.000,-30.000) | (-29.988,-30.017) | (0.012,-0.017) | 0.021 |
19 | (-10.000,-30.000) | (-10.007,-30.023) | (-0.007,-0.023) | 0.024 |
20 | (-30.000,-10.000) | (-29.994,-9.992) | (0.006,0.008) | 0.010 |
Tab. 4 Experimental results
选取点 | 实际坐标(mm) | 定位坐标(mm) | (ΔX,ΔY) | 误差 |
---|---|---|---|---|
1 | (-10.000,10.000) | (-10.031,10.005) | (-0.031,0.005) | 0.031 |
2 | (-20.000,20.000) | (-20.034,20.006) | (-0.034,0.006) | 0.035 |
3 | (-30.000,30.000) | (-30.013,30.006) | (-0.013,0.006) | 0.014 |
4 | (-30.000,10.000) | (-30.008,10.027) | (-0.008,0.027) | 0.028 |
5 | (-10.000,30.000) | (-10.021,29.985) | (-0.021,-0.015) | 0.026 |
6 | (10.000,10.000) | (9.994,10.009) | (-0.006,0.009) | 0.011 |
7 | (20.000,20.000) | (20.008,20.003) | (0.008,0.003) | 0.009 |
8 | (30.000,30.000) | (30.057,30.001) | (0.057,0.001) | 0.057 |
9 | (30.000,10.000) | (29.980,10.015) | (-0.020,0.015) | 0.025 |
10 | (10.000,30.000) | (10.044,29.996) | (0.044,-0.004) | 0.044 |
11 | (10.000,-10.000) | (9.998,-10.001) | (-0.002,-0.001) | 0.002 |
12 | (20.000,-20.000) | (20.005,-20.037) | (0.005,-0.037) | 0.037 |
13 | (30.000,-30.000) | (30.035,-30.065) | (0.035,-0.065) | 0.074 |
14 | (30.000,-10.000) | (29.994,-10.009) | (-0.006,-0.009) | 0.011 |
15 | (10.000,-30.000) | (10.027,-30.037) | (0.027,-0.037) | 0.046 |
16 | (-10.000,-10.000) | (-10.018,-10.001) | (-0.018,-0.001) | 0.018 |
17 | (-20.000,-20.000) | (-20.002,-20.004) | (-0.002,-0.004) | 0.004 |
18 | (-30.000,-30.000) | (-29.988,-30.017) | (0.012,-0.017) | 0.021 |
19 | (-10.000,-30.000) | (-10.007,-30.023) | (-0.007,-0.023) | 0.024 |
20 | (-30.000,-10.000) | (-29.994,-9.992) | (0.006,0.008) | 0.010 |
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