Design, Implementation, and Evaluation of a Robotic Arm for Centrifuge Tube Handling
DOI:
https://doi.org/10.26905/jeemecs.v8i1.15308Keywords:
Robotic arm , Centrifuge tube , Gripper design , HMI , interface AutomationAbstract
This study presents the design and implementation of a robotic arm for transferring centrifuge tubes in laboratory environments. The robotic arm is developed to enhance safety and efficiency in handling chemical or biological samples, minimizing human error and contamination risks. The system integrates mechanical, electrical, and programming components, utilizing Dynamixel smart servos, stepper motors, and an Arduino Mega microcontroller. The robot operates in both manual and automatic modes, allowing users to select the source and destination of tube transfers via a Nextion HMI interface. Experimental results demonstrate that the robotic arm can accurately transfer tubes with diameters up to 17 mm while maintaining stability and consistency. The gripper, powered by a Tower Pro MG995 servo, ensures reliable handling without damaging the tubes. The system's modular design facilitates maintenance and scalability, making it suitable for various laboratory applications. Despite its advantages, the robotic arm has limitations, including a maximum payload of 200 grams and a total weight of 30 kg. Future improvements include integrating vision sensors and artificial intelligence for advanced functionalities such as object recognition and autonomous decision-making. This research contributes to the development of automated solutions for laboratory safety and efficiency.
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