This document discusses pharmaceutical robotics and different types of industrial robots commonly used in the pharmaceutical manufacturing process. It describes Cartesian, SCARA, and articulated robots, explaining their key characteristics and when each type would be suitable. The document also outlines advantages of pharmaceutical robots like accuracy, reliability, and safety benefits. Challenges like initial costs, training needs, and safety concerns are reviewed as well. Nano-robots and their potential for cell repair are briefly introduced.
1. A seminar on
PHARMACEUTICAL ROBOTICS
By
Syed Imran
(M Pharm II sem)
Guided by
Dr. A. Warokar
Department of Pharmaceutics
DBCOP
Besa, Nagpur
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2. Contents
Introduction
Types of Robot
Determining the type of robot needed
Advantages
Challenges
Nano Robot
References
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3. Introduction
• The International Organization for Standardization gives a
definition of robot in ISO 8373: "An automatically controlled,
reprogrammable, multipurpose, manipulator programmable in
three or more axes, which may be either fixed in place or mobile
for use in industrial automation applications."
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4. Types of Robots
• There are three types of industrial robots most commonly used in
pharmaceutical manufacturing.
1. Cartesian
• In their simplest form, Cartesian robots consist of two linear slides
placed at 90-degree angles to each other, with a motorized unit that
moves horizontally along the slides in the axis (z), which moves up
and down in the vertical plane.
• The quill holds the robot’s end-effector, such as a gripper. A fourth
axis (t, or theta) allows the quill to rotate in the horizontal plane.
• The chief advantage of Cartesian robots is their low cost, although
their restricted range of motion limits their usage. 4
5. • They are often incorporated into automation subsystems or
machines dedicated to a single purpose, such as assay testing.
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6. 2. SCARA Robots
• SCARA stands for “selective compliance articulated robot arm.”
• This refers to the fact that a SCARA’s arm segments, or links, are
“compliant,” that is, they can move freely, but only in a single
geometrical plane.
• Most SCARAs have four axes. Even though three- and five-axis
SCARAs are also found, the terms “SCARA” and “four axis
robot” are often used interchangeably to refer to a four-axis
SCARA.
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7. • The first two links of a SCARA swivel left and right around the first two
axes in the horizontal plane. The third link is the quill, which moves up
and down in the vertical plane along the third axis.
• The quill also rotates horizontally in the fourth axis, but cannot tilt
at a vertical angle.
• Some SCARAs have a metal shaft that is actually a hollow air-
balance cylinder. The function of this cylinder is to counterbalance
the weight of the end-effector and payload and thus reduce settling
time—the time in which robot has to wait after it moves to a given
point before it can carry out its next movement.
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8. • Faster settling times result in faster cycle
times.
• The unique design of SCARAs gives
them a high degree of rigidity, which in
turn allows them to move very fast and
with precise repeatability.
• SCARAs excel at high-speed pick-and-
place than other material-handling tasks.
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9. 3. Articulated Robots
• Articulated robots not only have more joints than SCARAs, they
have both horizontal and vertical joints, giving them increased
freedom of movement. Whereas a Cartesian robot has a cube-
shaped work envelope and a SCARA has a cylindrically shaped
one, the work envelope of an articulated robot is spherical.
• With their greater flexibility of movement, articulated robots can
perform almost any task that can be performed by a human arm
and hand.
• The most common articulated robots have six axes.
• The first link rotates in the horizontal plane like a SCARA, while
the second two links rotate in the vertical plane.
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10. • In addition, six-axis articulated robots have a vertically rotating
“forearm” and vertically rotating “wrist” joint, which let them
perform many of the same types of movements as a human
forearm and wrist.
• The forearm and wrist joint of six-axis
articulated robots allow them to pick up an
object no matter how it is oriented off the
horizontal plane, then place it at any angle
of approach that might be required.
• They also allow the robot to perform many
other tasks that would otherwise call for the
dexterity of a human operator. 10
11. Determining the Type of
Robot Needed
• The first step in automating a process with a robot is to establish
the process parameters, including
(1) The required type and size of end-effector, or end-of-arm tooling
(2) Cycle time
(3) Repeatability
(4) Reach
(5) Payload capacity.
• Taken together, these will usually determine whether a Cartesian,
SCARA or articulated robot is necessary.
• Another essential consideration is the environment in which the
robot will be operating.
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12. i. Accuracy
ii. Tirelessness
iii. Reliability
iv. Return on investment
v. Affordability
vi. Production
vii. Quality
viii. Speed
Advantages of Pharmaceutical Robots
ix. Flexibility
x. Safety
xi. Savings
xii. Reduced chances of contamination
xiii. Work continuously in any
environment
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13. Challenges
1. Expense:
The initial investment of robots is significant, especially when
business owners are limiting their purchases to new robotic
equipment. The cost of automation should be calculated in light of a
business' greater financial budget. Regular maintenance needs can
have a financial toll as well.
2. Dangers and fears:
Although current robots are not believed to have developed to the
stage where they pose any threat or danger to society, fears and
concerns about robots have been repeatedly expressed in a wide range
of books and films. The principal theme is the robots' intelligence and
ability to act could exceed that of humans, that they could develop a
conscience and a motivation to take over or destroy the human race.13
14. 3. Expertise:
Employees will require training in programming and interacting with the
new robotic equipment. This normally takes time and financial output.
4. Return on investment (ROI):
Incorporating industrial robots does not guarantee results. Without
planning, companies can have difficulty achieving their goals.
5. Safety:
Robots may protect workers from some hazards, but in the meantime,
their very presence can create other safety problems. These new dangers
must be taken into consideration.
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15. NANO-ROBOTS
• Nano-robots are so tiny machines that they can traverse the human
body very easily.
• When a nano-robot enters into the body of a patient would seek
for infected cells and would repair them without causing any
damage to the healthy cells.
• The nano-robot will remain outside the cell while the nano-
manipulators will penetrate into targeted or damaged cell thus
avoiding any possibility of causing damage to the intracellular
skeleton.
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16. • Thus these nano-robots when enter into human bloodstream
provide cell surgery and extreme life prolongation.
• Each nano-robot by itself will have limited capabilities, but the
coordinated effort of a multitude will produce the desired system
level results.
• Coordination is needed across the board for communication,
sensing, and acting and poses a major research challenge.
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17. CONCLUSION
• Incorporating robots into pharmaceutical processes has many
advantages. Robots can perform operations three or four times
faster than humans and can function 24 hours per day. These
characteristics make robots good at producing large quantities of
products efficiently. By performing simple, repetitive tasks, robots
can free employees for creative work such as developing new
products.
• Pharmaceutical industries are intently seeking ways to reduce their
expenses, increase their efficiency, and make high-quality
products. Robots can help companies achieve these ends by
providing speed, precision, repeatability, and flexibility.
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18. References
1. Roopesh Sachan, Prof. Satyanand Tyagi “Pharmaceutical And
Industrial Applications of Robots in Current Clinical Scenario: A
Recent Review” Pharmatutor-art-1577
2. ifr.org/industrial-robots/
3. ugress.com/post.aspid=286
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