Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Advances in Robot Kinematics 2022 |
| Herausgeber/-innen | Oscar Altuzarra, Andrés Kecskeméthy |
| Herausgeber (Verlag) | Springer Nature |
| Seiten | 220-227 |
| Seitenumfang | 8 |
| ISBN (elektronisch) | 978-3-031-08140-8 |
| ISBN (Print) | 9783031081392 |
| Publikationsstatus | Veröffentlicht - 2022 |
| Veranstaltung | 18th International Symposium on Advances in Robot Kinematics, ARK 2022 - Bilbao, Spanien Dauer: 26 Juni 2022 → 30 Juni 2022 |
Publikationsreihe
| Name | Springer Proceedings in Advanced Robotics |
|---|---|
| Band | 24 SPAR |
| ISSN (Print) | 2511-1256 |
| ISSN (elektronisch) | 2511-1264 |
Abstract
Automation is ubiquitous and is finding its way into more and highly specialized applications - including cryo-conservation. However, manual handling of biological or toxic samples is still the norm in research and commercial storage facilities. In biobanks, samples are stored, retrieved or moved by hand wearing rigid, protective clothing due to the significant risk of injury to personnel from cold burns. In addition, sample integrity is compromised by temperature changes or contamination. In this paper, we present an approach for the automation of handling processes in cryobanks for cryopreservation at temperatures below −130 ℃. The automation system is based on a parallel robot, as its structure allows the positioning of the drives outside the cooled workspace. The robot’s joints and manipulators are located inside the biobank, cooled with liquid nitrogen. The passive joints of the robot are implemented as Cardan joints, which are composed of multiple flexure hinges. In the following, we describe the design of the kinematic chains of the parallel robot’s structure. The elaboration of these is based on the results of FE-modeling of individual components under cryogenic conditions. We then subject the overall structure to static mechanical simulations, both in its initial position and under deflection of the actuator and compare the occurring deviations with the calculations based on the inverse solution.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Maschinenbau
- Ingenieurwesen (insg.)
- Ingenieurwesen (sonstige)
- Informatik (insg.)
- Artificial intelligence
- Informatik (insg.)
- Angewandte Informatik
- Mathematik (insg.)
- Angewandte Mathematik
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- BibTex
- RIS
Advances in Robot Kinematics 2022. Hrsg. / Oscar Altuzarra; Andrés Kecskeméthy. Springer Nature, 2022. S. 220-227 (Springer Proceedings in Advanced Robotics; Band 24 SPAR).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment
AU - Jahn, Philipp
AU - Hentschel, Jakob
AU - Raatz, Annika
PY - 2022
Y1 - 2022
N2 - Automation is ubiquitous and is finding its way into more and highly specialized applications - including cryo-conservation. However, manual handling of biological or toxic samples is still the norm in research and commercial storage facilities. In biobanks, samples are stored, retrieved or moved by hand wearing rigid, protective clothing due to the significant risk of injury to personnel from cold burns. In addition, sample integrity is compromised by temperature changes or contamination. In this paper, we present an approach for the automation of handling processes in cryobanks for cryopreservation at temperatures below −130 ℃. The automation system is based on a parallel robot, as its structure allows the positioning of the drives outside the cooled workspace. The robot’s joints and manipulators are located inside the biobank, cooled with liquid nitrogen. The passive joints of the robot are implemented as Cardan joints, which are composed of multiple flexure hinges. In the following, we describe the design of the kinematic chains of the parallel robot’s structure. The elaboration of these is based on the results of FE-modeling of individual components under cryogenic conditions. We then subject the overall structure to static mechanical simulations, both in its initial position and under deflection of the actuator and compare the occurring deviations with the calculations based on the inverse solution.
AB - Automation is ubiquitous and is finding its way into more and highly specialized applications - including cryo-conservation. However, manual handling of biological or toxic samples is still the norm in research and commercial storage facilities. In biobanks, samples are stored, retrieved or moved by hand wearing rigid, protective clothing due to the significant risk of injury to personnel from cold burns. In addition, sample integrity is compromised by temperature changes or contamination. In this paper, we present an approach for the automation of handling processes in cryobanks for cryopreservation at temperatures below −130 ℃. The automation system is based on a parallel robot, as its structure allows the positioning of the drives outside the cooled workspace. The robot’s joints and manipulators are located inside the biobank, cooled with liquid nitrogen. The passive joints of the robot are implemented as Cardan joints, which are composed of multiple flexure hinges. In the following, we describe the design of the kinematic chains of the parallel robot’s structure. The elaboration of these is based on the results of FE-modeling of individual components under cryogenic conditions. We then subject the overall structure to static mechanical simulations, both in its initial position and under deflection of the actuator and compare the occurring deviations with the calculations based on the inverse solution.
KW - Compliant parallel robot
KW - Cryopreservation
KW - Flexure hinges
UR - http://www.scopus.com/inward/record.url?scp=85133287821&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-08140-8_24
DO - 10.1007/978-3-031-08140-8_24
M3 - Conference contribution
AN - SCOPUS:85133287821
SN - 9783031081392
T3 - Springer Proceedings in Advanced Robotics
SP - 220
EP - 227
BT - Advances in Robot Kinematics 2022
A2 - Altuzarra, Oscar
A2 - Kecskeméthy, Andrés
PB - Springer Nature
T2 - 18th International Symposium on Advances in Robot Kinematics, ARK 2022
Y2 - 26 June 2022 through 30 June 2022
ER -