Parallel robotic

Bebek, O., Hwang, M.J., Cavusoglu, M.C. Design of a parallel robot for needle-based interventions on small animals. lEEE/ASME Transactions on Mechatronics 18(1), 62-73 (2013)... 

Kratchman, L. B. et al. "Design of a bone-attached parallel robot for percutaneous cochlear implantation." IEEE Transactions on Biomedical Engineering 58.10 (2011) pp. 2904-2910. 

Shen, H., Yang, T., and Ma, L., Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms. Mech. Mach. Theory, 40, pp. 1164-1180, 2005. 

SM actuators may have very many different shapes and offer a variety of shape changes (i. e. actuator strokes). This property can be exploited so as to adapt the SM elements shape to the actuating task. As an application example, a miniature parallel gripper with electrically heated SM wires integrated into its mechanical structure was presented. Further on the performance of pseudo-elastic shape memory flexure hinges in parallel robots for micro-assembly tasks was shown. The future opportunity for thin-fllm SM actuators to drive micromechanical systems and devices was demonstrated by a miniature silicon gripper. 

Raatz, A. Wrege, J. Plitea, N. Hesselbach, J. High Precision Complaint Parallel Robot. Production Engineering Research and Development. WGP, Issue XII/1, Berlin (2005), pp. 197-202... 

Hesselbach, J. Raatz, A. Kunzmann, H. Performance of Pseudo-Elastic Flexure Hinges in Parallel Robots for Micro-Assembly Tasks. Annals of the CIRP, Vol. 53/1, (2004), pp. 329-332... 

The protocol for O-glycopeptide synthesis described below has been optimized in our labs to fulfill the requirements for our covalent microarray platform. Key features in this respect are (1) small-scale synthesis, in which only few milligrams of resin are used per peptide, in order to allow for higher throughput by parallel robotic... 

Two main approaches to combinatorial chemistry are used—parallel synthesis and split synthesis. In parallel synthesis, each compound is prepared independently. Typically, a reactant is first linked to the surface of polymer beads, which are then placed into small wells on a 96-well glass plate. Programmable robotic instruments add different sequences of building blocks to tfie different wells, thereby making 96 different products. When the reaction sequences are complete, the polymer beads are washed and their products are released. 

If small or medium libraries for lead optimization are demanded and all synthetic products are to be screened individually, most often parallel synthesis is the method of choice. Parallel syntheses can be conducted in solution, on solid phase, with polymer-assisted solution phase syntheses or with a combination of several of these methods. Preferably, parallel syntheses are automated, either employing integrated synthesis robots or by automation of single steps such as washing, isolation, or identification. The latter concept often allows a more flexible and less expensive automation of parallel synthesis. 

Wingert, A., Litcher, M.D., and Dubowsky, S., On the kinematics of parallel mechanisms with bi-stable polymer actuators, demonstrated on the website http //scripts.mit.edu/ robots/robots/publications/ papers /2002 06 Win LicDub. pdf... 

The protocol offers a direct and efficient method for the synthesis of the boronic ester in the solid phase, which hitherto met with little success using classical methodology (Scheme 1-42). A solid-phase boronate (113 [155], 114 [156]) is quantitatively obtained by treating a polymer-bound iodoarene with the diboron (82). The subsequent coupling with haloarenes furnishes various biaryls. The robot synthesis or the parallel synthesis on the surface of resin is the topic of further accounts of the research. 

In our own preliminary studies [86] on parallel procedures under microwave-enhanced conditions, we have used the Radley s RDT 24 place PTFE carousel reaction station on the turntable of the Matsui M 169BT microwave oven. In this way, we have studied the catalytic activity of RhCl3 and Pd(OAc)2 towards the reduction or dehalo-genation of 4-bromocinnamic acid and structurally similar compounds. A nine-reaction matrix was used under microwave-enhanced conditions as illustrated in Scheme 13.9 - greatly reduced reaction times and easy optimization of reaction conditions are immediate benefits. As robotics come to play an increasingly important role in chemistry, one can immediately see more sophisticated labeling experiments being undertaken. 

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