A master thesis from Aalborg University
Automatic Synthesis of Molecules by Robot: Using UR5 Robot and RG2 Gripper
[Automatic Synthesis of Molecules by Robot]
Author(s)
Term
4. term
Education
Publication year
2022
Submitted on
2022-05-31
Pages
61 pages
Abstract
Chemists hope to liberate themselves from tedious, repetitive experiments and devote themselves to more creative work. Therefore, this project will try to introduce cooperative robots to replace manual operations. After visiting the chemical laboratory of AAU, this report will analyse and deconstruct the task and the dilution experiment of the quinine solution involved. On this basis, the concept of decoupling complex operations into several basic robot actions is proposed. The corresponding relationship between manual operations and robot actions is shown in one flow chart. In the practice part, this project establishes a set of robot workbench that meets the requirements of the chemical laboratory and is also consistent with reality by measuring the size and position of the existing equipment in the laboratory in the simulation software. Write the robot action sub instructions, try to combine them into the main program arbitrarily, and finally complete a set of user-defined experimental operations. Although there are still problems in the control of syringes, the rest have been tested and verified to meet the project requirements.
Documents
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