BioBrick-A-Bot Model C Version 1.0

This is model C of the iGEM BioBrick-A-Bot. Used 3 motors to control the movement of the pipet head to any location in 3 dimenstional space.

Progamming is using RobotC, a modified C programming language for Robots developed by Carnegie Mellon Univeristy Robotic Academy. RobotC incorporate floating point mathematical computation that enable precision movement of the pipet head.

In this model, there are 3 motors which drive 3 set of double jointed arms. The position of the pipet tip will always lies on the loci obtained by the intersection of a sphere and a circle. Used the laws of cosine to determine the exact location.

Testing this by moving the pipet head in a square and the down position. Currently writing routines to move it to different location on the 96 well plate, as well as working on other routines to suck and expel liquids using the pneumatic tubing.

This is work in progress

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