Biological sample handling

Ranger Mini 3.0 · Dual PiPER arms · Simulation

A Ranger Mini mobile base with a lifting carriage and two PiPER arms carries out a 15-step workflow across five laboratory stations: materials storage, liquid handling, mixing, centrifugation and finished-sample storage. It collects and identifies sample S01, adds wash solution, mixes and centrifuges the sample. It then retains the pellet—the material collected at the bottom of the tube—mixes it back into liquid and prepares two labeled aliquots, or measured portions, S01-A and S01-B, before inspection, storage and cleanup.

The Mission Graph organizes the work order and its dependencies. The Object Graph connects samples, equipment and the room; the Interaction Graph tracks current actions, grasps and support relationships. Target-tube preparation runs alongside centrifugation. Unloading becomes available only after preparation is complete, the rotor has stopped and the lid is unlocked.