Development and study of a robot for transferring Mycobacterium tuberculosis samples

Yan Wang; Guanyang Liu; Chao Chen

doi:10.1109/ROBIO.2012.6491001

Development and study of a robot for transferring Mycobacterium tuberculosis samples

Yan Wang^*
, Guanyang Liu
, Chao Chen

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of stepping motors, which are motion actuators of each joint, is developed with a Proportion Integration (PI) controller so that high precision and fast response can be obtained. In order to avoid sudden increase of motor speed when it starts, which may cause mechanical shock, a starting acceleration algorithm is applied. An upper computer interface is developed for operators to easily program the robot. Finally, experiments have been performed to verify the design performance.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	408-413
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491001
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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10.1109/ROBIO.2012.6491001

Cite this

Wang, Y., Liu, G., & Chen, C. (2012). Development and study of a robot for transferring Mycobacterium tuberculosis samples. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 408-413). Article 6491001 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491001

@inproceedings{1f8b66f44be24d6b93947f4cb0f2f3cd,

title = "Development and study of a robot for transferring Mycobacterium tuberculosis samples",

abstract = "As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of stepping motors, which are motion actuators of each joint, is developed with a Proportion Integration (PI) controller so that high precision and fast response can be obtained. In order to avoid sudden increase of motor speed when it starts, which may cause mechanical shock, a starting acceleration algorithm is applied. An upper computer interface is developed for operators to easily program the robot. Finally, experiments have been performed to verify the design performance.",

author = "Yan Wang and Guanyang Liu and Chao Chen",

year = "2012",

doi = "10.1109/ROBIO.2012.6491001",

language = "英语",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "408--413",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Wang, Y, Liu, G & Chen, C 2012, Development and study of a robot for transferring Mycobacterium tuberculosis samples. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491001, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 408-413, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491001

Development and study of a robot for transferring Mycobacterium tuberculosis samples. / Wang, Yan; Liu, Guanyang; Chen, Chao.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 408-413 6491001 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Liu, Guanyang

AU - Chen, Chao

PY - 2012

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N2 - As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of stepping motors, which are motion actuators of each joint, is developed with a Proportion Integration (PI) controller so that high precision and fast response can be obtained. In order to avoid sudden increase of motor speed when it starts, which may cause mechanical shock, a starting acceleration algorithm is applied. An upper computer interface is developed for operators to easily program the robot. Finally, experiments have been performed to verify the design performance.

AB - As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of stepping motors, which are motion actuators of each joint, is developed with a Proportion Integration (PI) controller so that high precision and fast response can be obtained. In order to avoid sudden increase of motor speed when it starts, which may cause mechanical shock, a starting acceleration algorithm is applied. An upper computer interface is developed for operators to easily program the robot. Finally, experiments have been performed to verify the design performance.

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U2 - 10.1109/ROBIO.2012.6491001

DO - 10.1109/ROBIO.2012.6491001

M3 - 会议稿件

AN - SCOPUS:84876466818

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 408

EP - 413

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Development and study of a robot for transferring Mycobacterium tuberculosis samples

Abstract

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Conference

UN SDGs

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