Synthesis of artificial 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.