Academic Journal
Achieving near-zero particle generation by simplicity of design—A compliant-mechanism-based gripper for clean-room environments
| العنوان: | Achieving near-zero particle generation by simplicity of design—A compliant-mechanism-based gripper for clean-room environments |
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| المؤلفون: | Budde, Leon, Hentschel, Jakob, Ihler, Sontje, Seel, Thomas |
| المصدر: | SLAS Technology, 29 (2024), Nr. 4 |
| بيانات النشر: | Elsevier |
| سنة النشر: | 2024 |
| المجموعة: | Institutional Repository of Leibniz Universität Hannover |
| مصطلحات موضوعية: | Lab-Automation, Compliant Mechanism, Gripper, Particle Emission, ddc:620 |
| الوصف: | Lab Automation facilitates high-throughput processes and improves reproducibility and efficiency while removing human action, primary source of contaminating particles. Handling poses a risk of contamination due to close contact with the objects. We propose a novel gripper (CrocoGrip) relying on compliant mechanisms to reduce the amount of contaminating particles generated by the gripper rather than preventing their emission, the latter being the common approach in current grippers. Using a structured design approach including simplified motion models and Finite Element Methods, we developed a novel gripper that is actuated by linear solenoids and purely relies on deformation for its motion. As a result, abrasive behavior and, therefore, the generation of particles is reduced without the need for additional sealing. We experimentally proved that the number of particles emitted by the CrocoGrip fulfills the demands of ISO14644 class 5. Due to the monolithic design of the CrocoGrip and, as a result, the need for few components, we achieve a simplicity of design, making cleaning, sterilization and maintenance easy, even for nonexperts. Furthermore, all parts but the two solenoids can be sterilized through autoclaving. The gripping is performed by utilizing the deformation energy of the compliant mechanism, making the gripping energy-efficient and safe. By using interchangeable jaws, the CrocoGrip was able to handle a microplate in SBS-standard, a 50 mL Falcon tube, and a Ø60 mm Petri dish using a robotic arm. CrocoGrip exploits the advantages of compliant mechanisms, especially for applications requiring clean-room environments. This approach of CM-based grippers enables an increase in the cleanliness of handling processes without an increase in system complexity of the gripper to facilitate the lab automation of highly sensitive processes, such as in tissue engineering. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | ESSN:2472-6303; http://dx.doi.org/10.15488/17840; https://www.repo.uni-hannover.de/handle/123456789/17974 |
| DOI: | 10.15488/17840 |
| الاتاحة: | https://www.repo.uni-hannover.de/handle/123456789/17974 https://doi.org/10.15488/17840 |
| Rights: | CC BY 4.0 Unported ; https://creativecommons.org/licenses/by/4.0/ ; frei zugänglich |
| رقم الانضمام: | edsbas.42428998 |
| قاعدة البيانات: | BASE |
| DOI: | 10.15488/17840 |
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