Robotic stations circular

One of the most important features of a robot, which determines its work envelope (i.e. the maximum extent and reach of the robot) is its position in the robotic station, which can be fixed or variable. The former is used in circular robotic stations, which are typical of Zymark s Py technology. In this configuration, the robotic arm is in the centre of a circle and the different peripherals are included in a work envelope radius as removable pieces of a pie. The work envelope of the arm in this case is 360° and the radius equal to, or shorter than, the extent of the arm (see Fig. 10.3 A). 

Fig. 10.3. Robotic stations with fixed and mobile arms. (A) Circular, PyTechnology, from Zymark. (B) Linear track, from Hudson. (Reproduced with permission of Zymark Corporation and Hudson Control Group, respectively.)...

The modules of a robotic station are the devices (apparatus, instruments, racks) used by the arm to perform its tasks. In circular configurations, the modules are referred to as peripherals . 

Rgure 3 Circular, FYTechnology, robotic station with fixed arm from Zymark. (Reproduced with permission of Zymark Corporation.)... 

The system is based on an XP Zymate laboratory robot controlled with a 10 slot System V controller using software version XP VI.S2. The system incorporates commerdaUy available hardware, as well as custom hardware. A schematic diagram of the system is shown in Fig. 6.11. The robotic arm and the peripheral laboratory stations that the robotic arm interacts with to perform the appHcation are positioned in a circular configuration. The GC/MS is located adjacent to the bench top, such that the injection valve is close to the sipper station. Peripheral items of hardware with which the robotic arm does not directly interact with are outside the working envelope. 

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