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'''Tuesday''': Horizontal control: did a test at 40% motor power, with 50 movements back and forth. The bay slides a bit to the right, 0,2 cm after 50 turns. | '''Tuesday''': Horizontal control: did a test at 40% motor power, with 50 movements back and forth. The bay slides a bit to the right, 0,2 cm after 50 turns. Lateral control: gravity is playing games and the movement changes alot over time. Redid the pipet-holding and added larger wheels. The first testing seems good. |
Revision as of 16:41, 23 March 2010
Liquid handling robot
Introduction
Background
Ressources
Software
Hardware
- Articles on construction of trusses by TJ Avery.
- Linear actuator by Xander Soldaat
- Aluminium beams
- Firgelli Linear actuators
Knowledge
- Introduction to the RobotC programming language by Albert W. Schueller.
- Creating own functions in RobotC By Albert W. Schueller.
- Robot C Functions help
- Introduction to robotics at Stanford Engineering.
Ideas
Notebook
Week 1
Monday: Worked on the primary handling operation with a very simpel design and set up the lab space.
The linear actuator works up to aboout 1,6 cm, putting a limit on how much the pipet can be pushed down. Solutions might be: using two actuators, using a rail-design instead or adding more power to the actuator.
The design is becoming quite big. Solution might be to use the power function powers, which are smaller.
The pipet needs to be tested for accuracy.
Tuesday: Checked the pipet for accuracy, and it was way of. Found another one, Eppendorf 200 ul.
Continued working on the dispensing handling. Created a successful design with two motors that press down on the pipet. I'm a bit nervous about the stress on the motor, but for now they seem to do fine.
The battery in one of the NTX bricks already ran out. I've ordered a rechargeable battery - but no transformer, since they are not sold here. Hopefully the inlet will accepts other transformers as well.
Programmed two aspiration and dispensing programs, called 'asp & disp 1 and 2 (16-03-10).c'. The code for asp & disp 2 is:
#pragma config(Motor, motorA, motor_A, tmotorNormal, PIDControl, encoder) #pragma config(Motor, motorB, motor_B, tmotorNormal, PIDControl, encoder) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*// //DECLARING FUNCTIONS //Control of the dispenser void DispensControl (int DCmotor, int DCencode, int DCpause) { //Syncronizing motors nSyncedMotors = synchAB; nSyncedTurnRatio = +100; // Left motor turns 100% of right motor //Power up while( !(nMotorEncoder[motor_A]==DCencode) ) { motor[motor_A]=DCmotor; nxtDisplayClearTextLine(5); nxtDisplayClearTextLine(6); nxtDisplayString (5,"%d, %d", nMotorEncoder[motorA],nMotorEncoder[motorB]); nxtDisplayString (6,"%d, %d", DCencode, DCmotor); wait1Msec (1); } motor [motorA] = 0; //End pause if any wait10Msec(DCpause); } //MAIN TASK task main () { nxtDisplayString (1,"DISPENSING 2"); nMotorEncoder [motor_A] = 0; //Air-out nxtDisplayClearTextLine(3); nxtDisplayString (3,"Air-out"); DispensControl(30, 30, 0); DispensControl(70, 60, 250); //Aspiring nxtDisplayClearTextLine(3); nxtDisplayString (3,"Aspiring"); DispensControl(-15, 0, 250); //Dispensing nxtDisplayClearTextLine(3); nxtDisplayString (3,"Dispensing"); DispensControl(30, 40, 0); DispensControl(70, 80, 250); //Resetting nxtDisplayClearTextLine(3); nxtDisplayString (3,"Resetting"); DispensControl(-15, 0, 250); }
Wednesday: Started designing the holding bay for the pipet. This will control the downward and upward motion of the pipet, but should also be able to be pulled either left or right. Decided to work with only one motor, since this would make it possible to control the entire robot with two NTX's.
Friday: Continued work on holding bay design.
Week 2
Monday: Worked on holding bay design and horizontal control. The design right now uses one motor for the horizontal control, which seems to be working fine. One motor is also used for the lateral control, which is a bit bumpy: the pipet holding and the motors need to be adjusted.
First code for lateral and horizontal control (Horizontal control (22-03-10).c):
#pragma config(Motor, motorB, motor_B, tmotorNormal, PIDControl, encoder) #pragma config(Motor, motorC, motor_C, tmotorNormal, PIDControl, encoder) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*// //DECLARING FUNCTIONS //Horizontal control, ie. left and right void HorizontalControl (int Hmotor, int Hencode, int Hpause) { //Power up while( !(nMotorEncoder[motor_C]==Hencode) ) { motor[motor_C]=Hmotor; nxtDisplayClearTextLine(5); nxtDisplayClearTextLine(6); nxtDisplayString (5,"%d", nMotorEncoder[motor_C]); nxtDisplayString (6,"%d, %d", Hencode, Hmotor); wait1Msec (1); } motor [motor_C] = 0; //End pause if any wait10Msec(Hpause); } //Lateral control, ie. up and down void LateralControl (int Lmotor, int Lencode, int Lpause) { //Power up while( !(nMotorEncoder[motor_B]==Lencode) ) { motor[motor_B]=Lmotor; nxtDisplayClearTextLine(5); nxtDisplayClearTextLine(6); nxtDisplayString (5,"%d", nMotorEncoder[motor_B]); nxtDisplayString (6,"%d, %d", Lencode, Lmotor); wait1Msec (1); } motor [motor_B] = 0; //End pause if any wait10Msec(Lpause); } //MAIN TASK task main () { nxtDisplayString (1,"HORIZONTAL CONTROL"); nMotorEncoder [motor_C] = 0; //Move to the left-most position nxtDisplayClearTextLine(3); nxtDisplayString (3,"Going left"); HorizontalControl(30, 600, 250); //Reset nxtDisplayClearTextLine(3); nxtDisplayString (3,"Going right"); HorizontalControl(-30, 0, 250); //Move to the left-most position nxtDisplayClearTextLine(3); nxtDisplayString (3,"Going down"); LateralControl(-20, -250, 80); //Up and down nxtDisplayClearTextLine(3); nxtDisplayString (3,"Going up"); LateralControl(33, 0, 0); }
Tuesday: Horizontal control: did a test at 40% motor power, with 50 movements back and forth. The bay slides a bit to the right, 0,2 cm after 50 turns. Lateral control: gravity is playing games and the movement changes alot over time. Redid the pipet-holding and added larger wheels. The first testing seems good.