Synthesis of DNA with Robotic Kinematics

After the high-accuracy pump dispenses specific base amounts, a robot arm with multiple joints precisely positions the pipette at the synthesized DNA strand for sequence extension. To establish a kinematic model, a world reference frame is set at the base of the robot arm, serving as the origin for determining the end effector's positions. Using DH parameters, forward kinematics computes the pipette's location by linking each joint's frame via transformation matrices that incorporate joint angles and distances.These forward kinematics relationships enable inverse kinematics calculations. This process determines the joint angles and orientations needed for the robot arm to position the pipette at a desired location specified by the user. Using sensors like rotary encoders for joint angle measurement and accelerometers / gyroscopes for orientation, a closed-loop feedback system ensures precise joint parameter control. This setup guarantees accurate placement of dNTP and rapid response times. Read more ...Garg, R. , Vyas, A. , Khan, A. , Tariq, M. (2024), 'Codes beyond Bits and Bytes: A Blueprint for Artificial Life', World Academy of Science, Engineering and Technology, Open Science Index 213, International Journal of Biotechnology and Bioengineering, 18(9), 114 - 126.

高精度泵按照预设基准量完成试剂分配后，多关节机械臂将移液管精准定位至合成DNA链所在位置，以开展序列延伸反应。为构建运动学模型，我们以机械臂基座为原点建立世界参考坐标系，以此作为确定末端执行器位姿的基准。借助DH参数（Denavit-Hartenberg参数），正运动学通过将各关节坐标系通过融合关节角与关节间距的变换矩阵进行关联，计算出移液管的空间位置。上述正运动学关系可支撑逆运动学求解：该过程可计算出机械臂将移液管定位至用户指定目标位置所需的关节角与姿态参数。通过旋转编码器测量关节角、加速度计与陀螺仪采集姿态数据，闭环反馈系统可实现关节参数的精准控制。该系统可确保脱氧核糖核苷三磷酸（dNTP）的精准投放，并实现快速响应。更多详情请参阅：Garg, R.、Vyas, A.、Khan, A.、Tariq, M. (2024)，《比特与字节之外的编码：人工生命蓝图》，载于《世界科学、工程与技术学院》，开放科学索引213，《国际生物技术与生物工程期刊》，第18卷第9期，第114-126页。