以直角座標機器人移植組織培養苗的試驗研究

The Cartesian Robot Used in Tissue Culture Plantlet Transplanting

欒家敏(Jar-Miin Luan) ； 洪錫鵬(Hsi-Peng Hung) ； 彭文泓(Wen-Hung Pen)

《農業機械學刊》 5卷1期 (1996/03) Pp. 29-40

https://doi.org/10.30062/JAM.199603.0003

摘要

本研究設置一套直角座標機器人系統，用以扦挿移植組織培養苗至培養瓶或相關容器中，期能取代移植作業的人工，降低此一產業的人力需求。該系統包括一直角座標機器人、機器人手端、培養瓶定位裝置總成、以及控制系統。機器人能自動定位於預設之取苗及挿植位置，使其手端得順利夾持及挿植組織培養苗；而培養瓶定位裝置總成則用以承載培養瓶，並使之傾斜或旋轉，以輔助機器人手端到達挿植位置，依序移植組織培養苗。實驗結果顯示，此一機器人系統能適用於條狀與團狀苗在窄口圓錐形與廣口方形培養瓶內扦挿移植。視作業條件的不同，平均每苗的扦挿移植時間爲9至14秒，挿植成功的比率平均可達91.4%。

關鍵字

自動化 ； 機器人 ； 組織培養

並列摘要

A Cartesian coordinates robotic system was developed to transplant tissue culture plantlets or scions from a flat plane to culture flasks in order to minimize the need of labor. This system consists of a Cartesian robot, robotic end-effector, flask stand assembly, and control system. The control system drives the robot move to the default position where scions have been prepared to plant, and the end-effector grip and transplant the scions into a culture flask. The flask stand holds the flask to rotate or to make it incline in order to assist the end-effector taking positions and transplanting. Experimental results have shown that this robotic system successfully transplanted plantlets into the culture flasks of different shapes with a ratio of success over 91.4%.The period needed to transplant a plantlet is between 9 and 14 seconds.

並列關鍵字

Automation ； Robot ； Tissue culture