Modular Automation Platforms: A Case Study of a Flexible NMR Sample Preparation Robot

A variety of features used by our Department in the design and integration of Automation Platforms are presented here. A challenging project for any automation group is the automation of NMR sample preparation. The dispensing of highly volatile or viscous solutions into the typical 5mm ID NMR glass tube, and the subsequent capping of the tube, presents unique problems. An angled incremental single-channel dispensing technique prevents bubble formation when a 10-mM protein–based solute is used. A novel gripper finger design, used in conjunction with in-house fabricated Teflon caps, allows reliable capping of NMR tubes. In situ vortexing minimizes vial handling with increased throughput. Magnetic mounting of robot tools (hands) provides precise snap-in positioning with collision-safe breakaway. This simplifies crash recovery during development testing and production use. A wraparound Safety Enclosure with modular safety circuit fulfills ANSI/RIA R15.06-1999 Safety Requirements. Flexible control software permits run interruption for loading and preparation of additional NMR tubes. Prepared samples may be removed during run interruption. A “Fly-By” barcode scanning tool enables positive compound sample ID with improved throughput. Preexisting instrument control software is conveniently interfaced to a Scheduler application through an open-architecture instrument integration framework. This framework allows the development of automation platform–independent Middleware for schedule and assay portability. A new generation of low-power, lightweight, portable and expandable platforms is also presented where a building block tandem approach is used in conjunction with the Rent-a-robot concept for robot recycling.