Modular Automation Platforms: A Case Study of a Flexible NMR Sample Preparation Robot

摘要

A variety of features used by our Department in the design and integration of Automation Platforms are presented here. A challenging project for any automation group is the automation of NMR sample preparation. The dispensing of highly volatile or viscous solutions into the typical 5 mm ID NMR glass tube, and the subsequent capping of the tube, presents unique problems. An angled incremental single-channel dispensing technique prevents bubble formation when a 10-mM protein—based solute is used. A novel gripper finger design, used in conjunction with in-house fabricated Teflon caps, allows reliable capping of NMR tubes. In situ vortexing minimizes vial handling with increased throughput. Magnetic mounting of robot tools (hands) provides precise snap-in positioning with collision-safe breakaway. This simplifies crash recovery during development testing and production use. A wraparound Safety Enclosure with modular safety circuit fulfills ANSI/RIA R15.06–1999 Safety Requirements. Flexible control software permits run interruption for loading and preparation of additional NMR tubes. Prepared samples may be removed during run interruption. A “Fly-By” barcode scanning tool enables positive compound sample ID with improved throughput. Preexisting instrument control software is conveniently interfaced to a Scheduler application through an open-architecture instrument integration framework. This framework allows the development of automation platform—independent Middleware for schedule and assay portability. A new generation of low-power, lightweight, portable and expandable platforms is also presented where a building block tandem approach is used in conjunction with the Rent-a-robot concept for robot recycling.