A 3D-printed robotic system for fully automated multiparameter analysis of drinkable water samples

Abstract

This work describes a 3D-printed robotic system named RSAWA (robotic system for automatic water analysis) for fully automated water analysis. RSAWA consists of a robotic arm coupled to a syringe pump, temperature and conductivity sensors, a low-cost webcam as colorimetric detector, and a 96-well microplate placed on a 3D-printed platform. The robotic system is controlled by software and it performs all analytical procedures. RSAWA was applied to measure conductivity (CDT), pH, total alkalinity (TA), total hardness (TH), chloride (Cl−), nitrite (NO2−), total dissolved phosphorus (TP), and total iron (TI) in drinkable water samples. A simple circuit was designed for conductivity determinations, while colorimetric pH determinations were carried out using Hue values extracted from digital images and a pH universal indicator. HSV histograms were used to calculate Pearson's correlation coefficients, allowing the construction of accurate titration curves. In addition to achieving sample throughputs of 112 h−1 for TA and TH determinations and 92 h−1 for Cl− determinations, RSAWA produced 99.5% less waste than the corresponding reference methods during titrations. Colorimetric measurements were performed through RGB vector norms calculated from digital images were used as analytical signals. Limits of quantification (μg L−1) were 6.83, 13.0 and 1.5 mg L−1 for NO2−, TP, and TI determinations, respectively. Sample throughputs (samples h−1) were 83 for NO2− and TP and 72 for TI with a 98.5% reduction in waste generation. Thus, RSAWA is a low-cost, feasible, and environmentally friendly alternative to quickly and accurately determine several chemical and physicochemical parameters in aqueous samples.