Automatic Synthesis of Molecules by Robot: Using UR5 Robot and RG2 Gripper

Automatic Synthesis of Molecules by Robot

Shi, Haoxiang

4. term

Manufacturing Technology, Master

2022

2022-05-31

61

This thesis explores how to automate laboratory work with cooperative robots (cobots) so chemists can avoid repetitive tasks and focus on creative work. The project centers on a quinine solution dilution experiment in AAU’s chemical laboratory. It analyzes the workflow and breaks it down into simple, basic robot actions. A flowchart maps each manual step to a corresponding robot action. In practice, a robot workbench is created by measuring the laboratory equipment and reproducing its sizes and positions in simulation software to match real conditions. Sub-instructions (primitive actions) are programmed and can be flexibly combined into a main program to carry out user-defined experiments. Most functions were tested and met the project’s requirements; syringe control remains problematic.

Denne afhandling undersøger, hvordan laboratoriearbejde kan automatiseres med samarbejdende robotter (cobots), så kemikere slipper for ensformige opgaver og kan fokusere på kreativt arbejde. Projektet tager udgangspunkt i et fortyndingsforsøg med kininopløsning i AAU’s kemilaboratorium. Først analyseres arbejdsgangen og opdeles i enkle, grundlæggende robothandlinger. Sammenhængen mellem manuelle trin og robottrin vises i et flowdiagram. I den praktiske del opbygges en robot-arbejdsstation ved at måle udstyret i laboratoriet og gengive dets størrelser og positioner i simuleringssoftware, så opsætningen svarer til virkeligheden. Der programmeres del-instruktioner (primitive handlinger) til robotten, som fleksibelt kan kombineres i et hovedprogram og dermed udføre brugerdefinerede eksperimenter. De fleste funktioner er testet og lever op til projektkravene; styringen af sprøjter volder dog fortsat problemer.

[This apstract has been rewritten with the help of AI based on the project's original abstract]

Automatic synthesis ; Robot controlling ; Intelligent production ; Synthesis of molecules

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