点样机器人工作路径分析

Study on working path of microarrayer

点样机器人是制备微阵列生物芯片的核心设备.在分析了点样机器人的工作过程以及系统结构组成的基础上,着重对点样机器人制备微阵列生物芯片所消耗的工作路径进行了理论分析和详细分类.在已知样品种类、玻片数量、样品点阵列模式、点样针阵列模式等给定参数的前提下,将工作路径分为z轴点样针路径长度、xy轴点样路径长度,而后采用类似图形树的分类方法给出了详尽的迭加计算方法与公式,对主要影响因素进行了深入研究.实验表明该方法快捷准确可行,可用于工程分析.其对点样机器人的结构设计与路径规划都具有指导意义.

Microarrayer is the key instrument for biochip fabrication. The working process and system configuration of microarrayer were studied. Special attention was paid to the computation method of the microarrayer working path in biochip fabrication. On the condition of given parameters, such as sample variety, slip quantity, spot matrix module, pin matrix module etc. , the working path was divided into two main sub-path, such as z axis pin path, xy axis spotting path. Then the tree classing method was taken to calculate the working path with the given parameters. The method and expressions were presented. The main factors for working path were analyzed. The agreement of the final computation results with the experimental data indicates this method can be used to estimate the working path of microarrayer quickly and effectively at engineering analyses. It has the significance for design of microarrayer and working path plan.