Determining the Proper Force Parameters for Robotized Pipetting Devices Used in Automated Polymerase Chain Reaction (PCR)

摘要

This study aims to provide a set of experimentally determined forces needed for gripping operations related to a robotically manipulated microliter manual pipette. The experiments are conducted within the scope of automated sample processing for polymerase chain reaction (PCR) analysis in small-sized to medium-sized laboratories where dedicated automated equipment is absent and where procedures are carried out manually. Automation is justified by the requirement for increased efficiency and to eliminate possible errors generated by lab technicians. The test system comprises an industrial robot; a dedicated custom gripper assembly necessary for the pipette; pipetting tips; and mechanical holders for tubes with chemical substances and genetic material. The selected approach is to measure forces using the robot’s built-in force–torque sensor while controlling and limiting the pipette’s gripping force and the robot’s pushing force. Because the manipulation of different materials requires the attachment and discarding of tips to and from the pipette, the operator’s perceived tip release force is also considered.