Intelligent Experiment Robotic Systems Design for Material Preparation and Detection
本文设计了一个用于材料科学实验室的智能机器人系统，通过协作机械臂和光学检测装置，实现涂层制备和疏水性检测，并探索了AI驱动实验室的潜力。
This article presents an intelligent robotic system developed for experiments in the materials science laboratory, specifically focusing on coating preparation via layer-by-layer self-assembly techniques and hydrophobic detection. The system integrates two collaborative robotic arms, enhanced with dynamic movement primitives (DMPs), to mimic human manipulation skills and bolster the robots’ imitation capabilities. Additionally, a mobile robotic arm facilitates autonomous operations. A key component is an independently designed optical detection device capable of measuring water droplet angles. Coupled with a compatible simulation platform, the system can perform virtual experiments and generate trajectories for obstacle avoidance, and in which generative adversarial imitation learning (GAIL) in simulating robot trajectories. This article details the system’s construction, process design encompassing the robotic systems, optical detection device, simulation, and visualization platform. It also explores the vast potential of future AI-driven laboratories in materials science, biology, medicine, and chemistry.