迈向灵活的生物实验室自动化：基于容器分类学的3D打印夹爪指
Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers
AI总结：
针对生物实验室机器人抓取容器范围有限的问题，研究团队基于液体容器分类体系，设计了集成刚柔材料的3D打印被动柔顺夹爪指，具备耐化耐高温特性，可适配多类容器与复杂实验流程。
摘要：
生命科学研究实验室的自动化是近年来愈发受关注的范式。当前的机器人解决方案通常适用范围有限，这降低了其接受度，也阻碍了复杂工作流程的实现。用机器人运输和操作实验室用品是这一局限性的典型体现场景。本文推导了一套生物实验室液体容器的分类体系，明确了对灵活抓取解决方案的需求。以该分类体系为指导，我们为平行式机器人夹爪设计了指部部件，采用整体式双挤出3D打印工艺制造，集成刚性与柔性材料以优化抓取性能。我们设计了经过微调的指尖，能够稳定抓取目标容器。通过采用被动柔顺机构，保留了简单的驱动系统与轻量化特性。耐化学品、耐高温的性能以及与工具交换系统的兼容性，使得该夹爪指可用于日常实验室工作与复杂工作流程。我们通过实验验证了该夹爪指的任务适用性，实验结果表明其可处理多种容器，具备位移耐受能力，且抓取稳定性良好。
英文摘要：
Automation in the life science research laboratory is a paradigm that has gained increasing relevance in recent years. Current robotic solutions often have a limited scope, which reduces their acceptance and prevents the realization of complex workflows. The transport and manipulation of laboratory supplies with a robot is a particular case where this limitation manifests. In this paper, we deduce a taxonomy of biolaboratory liquid containers that clarifies the need for a flexible grasping solution. Using the taxonomy as a guideline, we design fingers for a parallel robotic gripper which are developed with a monolithic dual-extrusion 3D print that integrates rigid and soft materials to optimize gripping properties. We design fine-tuned fingertips that provide stable grasps of the containers in question. A simple actuation system and a low weight are maintained by adopting a passive compliant mechanism. The ability to resist chemicals and high temperatures and the integration with a tool exchange system render the fingers usable for daily laboratory use and complex workflows. We present the task suitability of the fingers in experiments that show the wide range of vessels that can be handled as well as their tolerance against displacements and their grasp stability.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
