Hudson Robotics PlateCrane EX - Manual (Page 34)

PlateCrane EX User Manual Hudson Robotics, Inc.
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CHAPTER 5--PlateCrane Components
1. The Robotic Axes
The PlateCrane has the following axes:
1. R = rotates the PlateCrane horizontally
2. Z = moves the PlateCrane arm vertically
3. P = rotates the gripper horizontally
4. Y= extends/retracts the PlateCrane arm
The R-axis is driven by an encoded stepper motor. This axis has a rotational capability of
345

. It utilizes a hard stop to prevent continuous rotation, and a proximity sensor, which
determines the "Home" position for the horizontal rotation.
The Z-axis is driven by an encoded stepper motor. This axis can travel up to 18 inches
and complete a full stroke in less than three seconds. This axis utilizes a proximity
sensor, which determines the "Home" position and uses the top and bottom plates as its
hard stops.
The P-axis is driven by an encoded geared stepper motor. This axis has a rotational
capability of 350

. It utilizes a hard stop to prevent continuous rotation, and a proximity
sensor, which determines the "Home" position for the gripper rotation.
The Y-axis is driven by an encoded stepper motor. This axis can travel up to 6 inches
and complete a full stroke in 2 seconds. This axis utilizes a proximity sensor, which
determines the "Home" position, and uses the arm assembly for it’s hard stop.
The standard gripper consists of a pair of gripper fingers that have two rubber inserts that
provide a secure grip on microtiter plates. The lower part of the gripper “floats”
vertically, and locates microtiter plates by using a proximity switch. This switch is
located inside the gripper housing and indicates when the arm has encountered a
microtiter plate. The outside edge of a microtiter plate activates the floating gripper. A
centering plate is used to center microtiter plates inside the stack before the gripper picks
them up.
2. Stacks
The standard PlateCrane includes two extruded aluminum stacks. Each stack can hold up
to 30 standard-height microtiter plates. The stacks are from an aluminum extrusion for
rigidity and precision. The stacks are held in position by plastic guide blocks on a stack
base. The base is connected to the PlateCrane EX by three allen-head screws. The
PlateCrane can be upgraded to have a maximum capacity of fifteen (15) stacks on three
stack bases.