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

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 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.

[This summary 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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