Details
| Original language | English |
|---|---|
| Article number | 100148 |
| Pages (from-to) | 100148 |
| Number of pages | 1 |
| Journal | SLAS Technology |
| Volume | 29 |
| Issue number | 4 |
| Early online date | 25 May 2024 |
| Publication status | Published - Aug 2024 |
Abstract
Lab Automation facilitates high-throughput processes and improves reproducibility and efficiency while removing human action, primary source of contaminating particles. Handling poses a risk of contamination due to close contact with the objects. We propose a novel gripper (CrocoGrip) relying on compliant mechanisms to reduce the amount of contaminating particles generated by the gripper rather than preventing their emission, the latter being the common approach in current grippers. Our novel gripper is actuated by linear solenoids and purely relies on deformation for its motion. As a result, abrasive behavior and, therefore, the generation of particles is reduced without the need for additional sealing. We experimentally proved that only particles smaller than 3.0µm are emitted by the gripper, with a large proportion of the particles being generated by the actuation. The CrocoGrip fulfills the demands of ISO14644 class 5. The gripping relies on the deformation energy of the compliant mechanism, making the gripping energy-efficient and safe. The maximum gripping force achieved by the CrocoGrip was 5.5N. Because the force transmitted to the handling object depends on the design of the gripping jaws, which are interchangeable, the force can be reduced for more sensible handling objects. Using three different sets of jaws, CrocoGrip was able to handle a microplate in SBS-standard, a 50mL Falcon tube, and a Ø60mm Petri dish using a robotic arm. Due to the monolithic design of the CrocoGrip and, as a result, the need for few components, we achieve a simplicity of design, making cleaning, sterilization and maintenance easy, even for nonexperts. The CrocoGrip exploits the advantages of compliant mechanisms, especially for applications requiring clean-room environments. This approach of compliant-mechanism-based grippers enables an increase in the cleanliness of handling processes without an increase in system complexity of the gripper to facilitate the lab automation of highly sensible processes, such as in tissue engineering.
Keywords
- Compliant mechanism, Gripper, Lab automation, Particle emission
ASJC Scopus subject areas
- Medicine(all)
- General Medicine
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In: SLAS Technology, Vol. 29, No. 4, 100148, 08.2024, p. 100148.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Achieving near-zero particle generation by simplicity of design—A compliant-mechanism-based gripper for clean-room environments
AU - Budde, Leon
AU - Hentschel, Jakob
AU - Ihler, Sontje
AU - Seel, Thomas
N1 - Publisher Copyright: Copyright © 2024 The Authors. Published by Elsevier Inc. All rights reserved.
PY - 2024/8
Y1 - 2024/8
N2 - Lab Automation facilitates high-throughput processes and improves reproducibility and efficiency while removing human action, primary source of contaminating particles. Handling poses a risk of contamination due to close contact with the objects. We propose a novel gripper (CrocoGrip) relying on compliant mechanisms to reduce the amount of contaminating particles generated by the gripper rather than preventing their emission, the latter being the common approach in current grippers. Our novel gripper is actuated by linear solenoids and purely relies on deformation for its motion. As a result, abrasive behavior and, therefore, the generation of particles is reduced without the need for additional sealing. We experimentally proved that only particles smaller than 3.0µm are emitted by the gripper, with a large proportion of the particles being generated by the actuation. The CrocoGrip fulfills the demands of ISO14644 class 5. The gripping relies on the deformation energy of the compliant mechanism, making the gripping energy-efficient and safe. The maximum gripping force achieved by the CrocoGrip was 5.5N. Because the force transmitted to the handling object depends on the design of the gripping jaws, which are interchangeable, the force can be reduced for more sensible handling objects. Using three different sets of jaws, CrocoGrip was able to handle a microplate in SBS-standard, a 50mL Falcon tube, and a Ø60mm Petri dish using a robotic arm. Due to the monolithic design of the CrocoGrip and, as a result, the need for few components, we achieve a simplicity of design, making cleaning, sterilization and maintenance easy, even for nonexperts. The CrocoGrip exploits the advantages of compliant mechanisms, especially for applications requiring clean-room environments. This approach of compliant-mechanism-based grippers enables an increase in the cleanliness of handling processes without an increase in system complexity of the gripper to facilitate the lab automation of highly sensible processes, such as in tissue engineering.
AB - Lab Automation facilitates high-throughput processes and improves reproducibility and efficiency while removing human action, primary source of contaminating particles. Handling poses a risk of contamination due to close contact with the objects. We propose a novel gripper (CrocoGrip) relying on compliant mechanisms to reduce the amount of contaminating particles generated by the gripper rather than preventing their emission, the latter being the common approach in current grippers. Our novel gripper is actuated by linear solenoids and purely relies on deformation for its motion. As a result, abrasive behavior and, therefore, the generation of particles is reduced without the need for additional sealing. We experimentally proved that only particles smaller than 3.0µm are emitted by the gripper, with a large proportion of the particles being generated by the actuation. The CrocoGrip fulfills the demands of ISO14644 class 5. The gripping relies on the deformation energy of the compliant mechanism, making the gripping energy-efficient and safe. The maximum gripping force achieved by the CrocoGrip was 5.5N. Because the force transmitted to the handling object depends on the design of the gripping jaws, which are interchangeable, the force can be reduced for more sensible handling objects. Using three different sets of jaws, CrocoGrip was able to handle a microplate in SBS-standard, a 50mL Falcon tube, and a Ø60mm Petri dish using a robotic arm. Due to the monolithic design of the CrocoGrip and, as a result, the need for few components, we achieve a simplicity of design, making cleaning, sterilization and maintenance easy, even for nonexperts. The CrocoGrip exploits the advantages of compliant mechanisms, especially for applications requiring clean-room environments. This approach of compliant-mechanism-based grippers enables an increase in the cleanliness of handling processes without an increase in system complexity of the gripper to facilitate the lab automation of highly sensible processes, such as in tissue engineering.
KW - Compliant mechanism
KW - Gripper
KW - Lab automation
KW - Particle emission
UR - http://www.scopus.com/inward/record.url?scp=85204340117&partnerID=8YFLogxK
U2 - 10.1016/j.slast.2024.100148
DO - 10.1016/j.slast.2024.100148
M3 - Article
VL - 29
SP - 100148
JO - SLAS Technology
JF - SLAS Technology
SN - 2472-6303
IS - 4
M1 - 100148
ER -