Study On Technology Of Precise Crawling And Transferring Consumables For Automatic Nucleic Acids Detection System

With the determination of the human genome,the post-genome era is confronted with massive genomic data,so there is an urgent need for accurate,fast and high-throughput bioinformatics analysis in studies.According to a clinical analysis,a large number of clinical samples need to be processed and analyzed in a short period of time when large-scale outbreaks of epidemics occur.However,it will cost a lot of manpower and material resources and can not guarantee the accuracy of processing or analysis.Therefore,it is of great value to carry out biochemical analysis and information acquisition accurately,rapidly and efficiently.In order to meet the requirements,our group has developed an automated nucleic acid detection system based on magnetic nanoparticles.This paper is aimed at achieving the goal of crawling and transferring consumables precisely,which builds the foundation for establishing the automatic nucleic acid detection system.Aiming to solve the problem of the crawling and transferring of different consumables in automatic nucleic acid detection system,we design and establish an accurate crawling and transferring system of consumables,which includes high-precision three-axis manipulator system and pressure-sensing mechanical gripping module based on FSR sensor.Among them,the three-axis manipulator with cantilevered structure is driven by the servo system,and can drive the manipulator to any platform on the station by means of the high-precision ball screw.The control system consists of two control panels whose core is the embedded chip named STM32F103ZET6.By loading the improved frequency S-curve algorithm,the manipulator movement speed and start-stop stability can be improved.The pressure-sensing mechanical grip based on FSR sensor can read the pressure values in the process to crawl the consumables in real time.Meanwhile,the values are compared with the judgment condition of the effective capture area of the different consumables obtained by using the Simulation function in SOLID WORKS to judge whether the position of the crawling is reasonable.In the process of transferring consumables,the position of mechanical fingers can be fixed by the self-locking trapezoidal screw to maintain the stability of consumables.If the consumables are offset or fallen in the transfer process,the FSR sensor can send the abnormal pressure data to the control chip to ensure the safety of the experiment.By origin regression experiment and the different-distance repeated positioning accuracy experiment,we can conclude that the error of the origin return of the manipulator is 0.055 mm,and the maximum error of the different running distance is 0.06 mm,it can meet the requirement of system positioning.The experimental in the accurate crawling and transferring system of consumables shows that the manipulator cooperating with the pressure-sensing mechanical grip based on FSR sensor can crawl and transfer the consumables well,and the fall of consumables or the overflow of liquid seldom occur.