title: Adapting a Low-Cost Selective Compliant Articulated Robotic Arm for Spillage Avoidance.
abstract: Flexible automation systems provide the needed adaptability to serve shorter-term projects and specialty applications in biochemical analysis. A low-cost selective compliant articulated robotic arm designed for liquid spillage avoidance is developed here. In the vertical-plane robotic arm movement test, the signals from an inertial measurement unit (IMU) and accelerometer were able to sense collisions. In the horizontal movement test, however, only the signals from the IMU enabled collision to be detected. Using a calculation method developed, it was possible to chart the regions where the obstacle was likely to be located when a collision occurred. The low cost of the IMU and its easy incorporation into the robotic arm offer the potential to meet the pressures of lowering operating costs, apply laboratory automation in resource-limited venues, and obviate human intervention in response to sudden disease outbreaks.
authors.affiliation: Laboratory for Optics and Applied Mechanics, Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Victoria, Australia.
authors.forename: Darren
authors.initials: D
authors.lastname: McMorran
authors.affiliation: Laboratory for Optics and Applied Mechanics, Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Victoria, Australia.
authors.forename: Dwayne Chung Kim
authors.initials: DC
authors.lastname: Chung
authors.affiliation: Department of Electrical and Computer Systems Engineering, Monash University, Clayton, VIC, Australia.
authors.forename: Jonathan
authors.initials: J
authors.lastname: Li
authors.affiliation: Laboratory for Optics and Applied Mechanics, Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Victoria, Australia.
authors.forename: Murat
authors.initials: M
authors.lastname: Muradoglu
authors.affiliation: Cardiovascular Research Institute, Yong Loo Lin School of Medicine, National University of Singapore, National University Health System, Centre for Translational Medicine, Singapore, Singapore.
authors.forename: Oi Wah
authors.initials: OW
authors.lastname: Liew
authors.affiliation: Laboratory for Optics and Applied Mechanics, Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Victoria, Australia engngtw@gmail.com.
authors.forename: Tuck Wah
authors.initials: TW
authors.lastname: Ng
mesh_terms: D057205:Automation, Laboratory / Q000191:economics / Q000379:methods*; D003365:Costs and Cost Analysis; D006801:Humans; D012371:Robotics / Q000191:economics / Q000379:methods*; D013048:Specimen Handling / Q000379:methods*
keywords: collision; inertial management unit; robotic arm; spillage