Abstract
Many types of biomaterial analysis require numerous repetition of the same operations. We suggest applying the principles of Total Laboratory Automation (TLA) for analysis of dental tissues in in-vitro conditions. We propose an innovative robotic platform with ABB high precision industrial robotic arm. We programmed the robot to achieve 3000 cycles of submerging for analysis of the stability and thermal wear of dental adhesive materials. We address the problem of robot trajectory planning to achieve smooth and precise trajectory while minimizing jerk. We generate different variants of trajectory using natural cubic splines and adopt the NSGA II multiobjective evolutionary algorithm to find a Pareto-optimal set of robot arm trajectories. The results demonstrate the applicability of the developed robotic platform for in-vitro experiments with dental materials. The platform is suitable for small or medium size dental laboratories.
Highlights
Total Laboratory Automation (TLA) envisions automation and integration of laboratory testing such that specimens are processed, tested, and stored with minimal user intervention (Genzen et al 2017)
A variety of TLA solutions have been available with technologies that have been advanced based on engineering innovation (see a survey presented in Irene (2018))
We proposed an innovative robotic platform for in-vitro experiments and analysis of dental materials suitable for small or medium sized dental laboratories using an industrial robotic arm manipulator
Summary
Total Laboratory Automation (TLA) envisions automation and integration of laboratory testing such that specimens are processed, tested, and stored with minimal user intervention (Genzen et al 2017). The motivation for TLA is provided by workforce shortage of laboratory professionals, and ability to shorten the cycle of experiments, which is an attractive solution for many laboratories. TLA handles routine, repetitive steps while maintaining quality and efficiency of the experimental procedures and allowing researchers and laboratory operators to focus on specialized testing that requires creativity and contributes towards their training and expertise. A variety of TLA solutions have been available with technologies that have been advanced based on engineering innovation (see a survey presented in Irene (2018)). Moreno-Camacho et al (2017) establish a fully automated clinical microbiology laboratory. The automated technologies have improved performance compared with conventional methods, i.e. (Dixon et al 2002) develop an automated chemistry workstations equipped for parallel and adaptive experimentation. Operations requiring physical action are implemented using the robotic arm and other
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