| abstract |
Interference, eg collisions, between transfer units in a pick and place robot system, such as the shown gantry system for transferring samples from a common sample point SP to high-density arrays RA of biologically active substances are prevented by controlling the transfer units TU1, TU2 so that they are not at the sample point at the same time. As shown, the units move respectively in the X-direction by means of linear motors LM1x, LM2x on thrust rod TR1x, in the Y-direction by means of linear motors LM1y, LM2y on rods TR1y, TR2y, and in the Z-direction by means of linear motors LM1z, LM2z on rods TR1z, TR2z. A particular sequence of operation, wherein one transfer unit is picking up a sample while the other is depositing a sample is described (Figures 3, 4) In an alternative embodiment (Figures 5-9), the array RA is in the common central area and there is a separate sample point (SP1, SP2) at each side. In a further embodiment (Figs 10, 11), printed circuit boards on a conveyor passing through the centre of the system are fed with components by both transfer units. The method may also be applied to arm type multi-axis robots. |