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Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system

Published online by Cambridge University Press:  10 August 2022

Artem Voloshkin Open the ORCID record for Artem Voloshkin [Opens in a new window] ,
Larisa Rybak Open the ORCID record for Larisa Rybak [Opens in a new window] ,
Vladislav Cherkasov Open the ORCID record for Vladislav Cherkasov [Opens in a new window]  and
Giuseppe Carbone Open the ORCID record for Giuseppe Carbone [Opens in a new window]
Artem Voloshkin
Affiliation:
Russia, Belgorod, Belgorod State Technological University named after V.G. Shukhov
Larisa Rybak*
Affiliation:
Russia, Belgorod, Belgorod State Technological University named after V.G. Shukhov
Vladislav Cherkasov
Affiliation:
Russia, Belgorod, Belgorod State Technological University named after V.G. Shukhov
Giuseppe Carbone
Affiliation:
Russia, Belgorod, Belgorod State Technological University named after V.G. Shukhov Department of Mechanical, Energy and Management Engineering, University of Calabria, Rende, 87036, Italy.
*
*Corresponding author. E-mail: rlbgtu@gmail.com
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Abstract

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.

Keywords

robot designgraspinggloboid transmissiongripping kinematics3D prototyping
Type
Research Article
Information
Robotica , Volume 40 , Issue 12 , December 2022 , pp. 4570 - 4585
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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