Overview
The Pipette Robotic End Effector is a robotic arm attachment for the uArm Swift Pro (https://cdn NULL.sparkfun NULL.com/assets/9/8/a/c/0/uArm-Swift-Specifications-en NULL.pdf), an open source robotic arm. The attachment allows the robotic arm to automate liquid handling duties in a chemistry lab environment such as: pick up a pipette tip from a tray, take in liquid, expel the liquid in a petri dish, and eject the pipette tip in the garbage.
Inspiration for this project came from Open Liquid Handling System on Instructables (https://www NULL.instructables NULL.com/OpenLH/). A few modifications were made from the OpenLH design. Unlike OpenLH, the full length of the ecopipette was used. Since this model of Ecopipette has been discontinued, it did not make sense to cut into it.
Parts and Assembly
The pipette selected for this project is a disassembled Ecopipette that is 5-50uL. This model is slightly larger than the one used in the OpenLH project. Selected parts for the project are circled below.
Since this is a larger sized pipette than the one used in OpenLH, the 3D printed parts were slightly modified and attached below.
– cap (http://www NULL.theyinhe NULL.com/wp-content/uploads/2022/06/cap_morig NULL.stl)
– holder (http://www NULL.theyinhe NULL.com/wp-content/uploads/2022/06/holder_morig NULL.stl)
– wheel (http://www NULL.theyinhe NULL.com/wp-content/uploads/2022/06/wheel_y NULL.stl)
– servo mount (http://www NULL.theyinhe NULL.com/wp-content/uploads/2022/06/Holder NULL.stl)
Assembly of the parts are the same as that described in the OpenLH project. The finished assembly of the pipette attached to a servo motor is shown below.
Video
The project was submitted to TEI 2022.