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Experiences in Use of Robotics in an Analytical Research Laboratory W. J. HURST, K. P. SNYDER, and R. A. MARTIN, JR. Hershey Foods Corporation Technical Center, 1025 Reese Avenue, P.O. Box 805, Hershey, PA 17033-0805
The use of the Zymate Laboratory Automation System allows the s t a n d a r d i z a t i o n and automation of many r o u t i n e operations i n an a n a l y t i c a l chemistry labor a t o r y . I t a d d i t i o n a l l y allows f o r a c l o s i n g of the a n a l y t i c a l automation loop of sample p r e p a r a t i o n and a n a l y s i s t h e r e f o r e p o t e n t i a l l y decreasing the need f o r personnel with a r e s u l t a n t increase in productivity. These operations i n c l u d e , but a r e not l i m i t e d to, weighing, p i p e t t i n g , d i l u t i n g , b l e n d i n g , heating, liquid-solid e x t r a c t i o n , and filtration. Since our l a b o r a t o r y f r e q u e n t l y uses HPLC f o r the final determination step, those assays were first chosen f o r automation. Each procedure was subdivided i n t o d i s c r e t e l a b o r a t o r y u n i t operations f o r final i n c l u s i o n i n t o the Zymate program. Each of these operations was a l s o assigned to a module such as hand, master l a b s t a t i o n , or blender. The sequence of operations and modules was then merged to a r r i v e at a final procedure. T h i s final procedure was then "taught" to the robot using a s e r i e s o f user-defined terms which could then be coupled i n t o a program f o r that sample p r e p a r a t i o n . Since many of the l a b o r a t o r y operations are the same f o r many assays, an a n a l y s t needs to d e f i n e only a l i m i t e d number of terms to be intermixed i n t o a v a r i e t y o f programs. Examples of system layout and method uses will be given. A d d i t i o n a l l y , data is presented as to the p r e c i s i o n a v a i l a b l e in sample p r e p a r a t i o n using laboratory robotics. In the a n a l y t i c a l chemistry f i e l d , there i s i n c r e a s i n g emphasis on automation of the l a b o r a t o r y . In many cases implementation of automation i s l i m i t e d to the i n s t a l l a t i o n o f a l a b o r a t o r y computer which a s s i s t s i n l a b o r a t o r y management, sample flow and 0097-6156/ 84/0261-0149S06.00/0 © 1984 American Chemical Society
Warren and Walradt; Computers in Flavor and Fragrance Research ACS Symposium Series; American Chemical Society: Washington, DC, 1984.
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COMPUTERS IN FLAVOR AND F R A G R A N C E RESEARCH
use of any of a v a r i e t y of autosamplers f o r a n a l y t i c a l i n s t r u ments. These autosamplers are t i e d to the l a b o r a t o r y computer f o r f i n a l data a n a l y s i s and r e p o r t generation. While these are steps i n automation, there i s u s u a l l y human i n t e r v e n t i o n of some kind i n v o l v e d i n sample p r e p a r a t i o n , t h e r e f o r e l e a v i n g a v o i d i n the automation loop. The human i n t e r v e n t i o n steps are labor i n t e n s i v e i n sample p r e p a r a t i o n f o r both s e r v i c e and a n a l y t i c a l methods development a p p l i c a t i o n s . Sample receipt F i g u r e 1.
Human Intervention
Analysis
A n a l y t i c a l Sample Flow.
The i n t r o d u c t i o n of l a b o r a t o r y r o b o t i c s f o r sample p r e p a r a t i o n and u l t i m a t e l y methods development serves to c l o s e t h i s gap. These l a b o r a t o r y robots bear no resemblance to C3P0 and R2D2 of Star Wars fame, but r a t h e r they are complex computer c o n t r o l l e d u n i t s s p e c i f i c a l l y manufactured f o r use i n a n a l y t i c a l chemistry and are capable of a l a r g e number of tasks. They can be obtained commercially or can be l a b o r a t o r y manufactured (1,2). The i n i t i a l a p p l i c a t i o n i n our l a b o r a t o r y was to automate the p r e p a r a t i o n of samples f o r a f i n a l HPLC determination of sorbate i n chocolate syrup. The b a s i c robot u n i t used i n t h i s study (Zymate, manufactured by Zymark Corporation, Hopkinton, MA) c o n s i s t s of a c o n t r o l l e r which c o n t r o l s motion through a Cathode Ray Tube and keyboard, and the robot arm which has three dimensional motion. The u n i t has many a u x i l i a r y items of equipment i n c l u d i n g a master lab s t a t i o n f o r p i p e t t i n g and d i l u t i n g , a Vortex u n i t f o r sample mixing, a d i g i t a l balance f o r automated sample weighing, a heating b l o c k and a power/event c o n t r o l l e r which serves to monitor switch c l o s u r e s and actuate s p e c i f i c equipment. Various h o l d i n g racks are d i s p e r s e d i n s t r a t e g i c l o c a t i o n s around the robot. These racks are f o r t e s t tubes, p i p e t t e t i p s and HPLC autosampler v i a l s . The u n i t a l s o i s equipped with an RS-423 i n t e r f a c e f o r data sharing between the robot and the l a b o r a t o r y computer. A p r i n t e r serves as a means of program documentation and data review. A c o n f i g u r a t i o n of the system i s shown i n Figure 2. The robot u n i t has a l a r g e number of a v a i l a b l e operations. These i n c l u d e automatic weighing, d i l u t i n g and other l i q u i d handling, s e p a r a t i o n ( p a r t i t i o n i n g ) , mixing, f i l t r a t i o n , dispensing, manipulation with hands, data r e d u c t i o n and documentation. The robot operates by moving to a p o s i t i o n i n three dimens i o n a l space. For one f a m i l i a r with d e a l i n g i n the complex methodology, the use of the robot i s a humbling experience s i n c e a l l i t s operations must be described i n t h e i r most b a s i c movements. For example, i f a person i s moving a p i e c e of glassware from one point to another and encounters an o b s t a c l e such as a s h e l f or bracket, that person knows to avoid t h i s o b s t a c l e . Unless t o l d
Warren and Walradt; Computers in Flavor and Fragrance Research ACS Symposium Series; American Chemical Society: Washington, DC, 1984.
Robotics in a Research Laboratory
HURST E T A L .
Robot Controller and Printer
Power and Event [Controller
HPLC Injector
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ompletejl Sample IVials
Master Lab Station
Hands
'^7 Liquid ispenserj
Turntable
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Digital Balance
Block Heater
