User:Mike Barnkob/Projects/Liquid handling robot

Background

Ressources

Software

• ROBOTC
• 3rd party ROBOTC drivers
• Lego Digital Designer

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.

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: 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)

1. 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);

}