New Design of the Gripper and Its Orientation Algorithm for Placing Test Tubes and Racks with a Robotic System for Aliquoting Biomaterials

The article considers a new design of a gripping device for gripping and moving racks with test tubes and test tubes by a robotic system for aliquoting biomaterial. Geometric parameters were determined and a 3-D model of the gripper was created, which was later made using a 3-D printer. To perform the test tube grasping operation, a new algorithm for determining the orientation angle of the grasping device is proposed. The structure of a robot control system with a gripper device using an Arduino microcontroller is developed. The results of testing the developed algorithm and gripper are presented, which confirmed the necessary accuracy of performing operations for grasping and moving objects.