A method of topological optimization of a multi-robotic system for aliquoting based on the analysis of the safety zone of two robots

Abstract The article considers a method for obtaining a rational layout of the design of a multi-robotic system for aliquoting biomaterial, consisting of two robots with different architectures, based on the analysis of safety zones. The first robot has a serial structure and ensures the continuous operation of the second robot, performing auxiliary work related to the movement of biological samples. The second robot, which is a parallel robot, directly performs the workflow of extracting and dosing liquid into aliquots. An algorithm for determining the safety zones for each of the robots is presented, based on which the optimal mutual arrangement of the two robots is obtained. Three-dimensional models of safety zones were created, on the basis of which the digital design of the mounting frame for the two robots was performed using the method of topological optimization of material distribution in the structure. This made it possible to obtain a rational design of the mounting frame, which does not intersect with the safety zones of the robots. The surface of the robotic system mounting frame, obtained as a result of topological optimization, is transformed into a metal structure suitable for manufacturing. The strength characteristics of two variations of the mounting frame are compared: the first one, obtained through topological optimization, and its transformed analog made from a standard profile.