▸Vial 15 mL

▸Channel 04 0.00 mL

Autonomous liquid handling · Cal Hacks 13.0

±0.2 mL.
EVERY TIME.

A seven-axis arm that keeps tilting until the camera says the channel holds exactly what the protocol asked for.

Open the console ↗

DeliveredIdle

0.00 ~~/ 2.00 mL~~

Acquire

Transport

Align

Pour

Return

AliquotingAutonomous · twelve channels

0105

ACQTRNALNPOURRTN

Loading workcell

±0.2 mL tolerance
Twelve channels
5 Hz vision loop
Seven driven axes
Closed on volume, not angle
15 mL conical
Fin-ray fingers
Move the station mid-run
±0.2 mL tolerance
Twelve channels
5 Hz vision loop
Seven driven axes
Closed on volume, not angle
15 mL conical
Fin-ray fingers
Move the station mid-run

The console

Where the lab runs it.

Ask for a run in plain words or out loud. Claude plans it, code checks it, a named person approves it, and the arm above pours it. Every step lands in the console, live.

Bench—

Pours logged—

Runs finished—

Plans refused—

Last run—

01 · Run

Say it. Hear it back. Approve it.

Hold the mic and ask. The checked plan is read back, you approve by name or by voice, and the 3D arm follows every move. “Stop” wins at any moment.

Claude · Cartesia voice · Convex workflow 02 · Protocol builder

Plate maps with four liquids

Red sample, blue, yellow and green reagents. Import a CSV, see each channel fill, check it live against the bench.

03 · Run log & QC

Every pour, graded

Error per pour against the tolerance band, per tube, with aborts and refusals.

04 · Tiger Data

Every joint, 100 times a second

Commanded against measured for each real run, per-joint smoothness, and a replay on the 3D arm.

05 · Reports

08:00 QC report

Frozen each morning from the last 24 hours, with one recommendation.

06 · Audit

Who did what

Append-only and searchable: every request, check, approval and stop.

07 · Beat the robot

Pour it by hand

Hold to tilt and try to hit the target. Then compare with the arm.

Open the console ↗ Plans from the Mana Lab Console arrive here too

Method

Four moves. One of them is hard.

Lifting and carrying a vial is solved. Knowing when to stop pouring is not. So everything up to the pour runs on fixed, measured poses, and the camera only has to do the one job that needs it.

01 / ACQUIRE

The finger bends, not the tube

Fin-ray fingers close to an 11 mm gap. Press a tube into the flat face and the whole finger curls around it, so a stalled motor flexes plastic instead of crushing a 0.9 mm wall.

02 / TRANSPORT

The wrist never moves

Six joints carry the vial across the bench with the wrist roll locked at zero. The meniscus never breaks, so the volume measured at the rack is the volume that arrives.

03 / ALIGN

Look first, then commit

A camera on the gripper, pitched 38° out over the fingertips, picks up the marker on the station and corrects the approach before the arm descends. Move the station mid-demo; it still finds it.

04 / POUR

One joint, closed loop

Only the wrist rolls. A second camera reads the rising column in the channel and feeds volume back five times a second, so the tilt stops on a measured volume, not a stopwatch.

The adaptive pour

A tilt angle gets you a pour. It doesn't get you a volume.

Tip the same vial twice, to the same angle, for the same two seconds, and you get two different volumes. Surface tension, how full the tube started, how cleanly the lip broke: all of it moves the number.

So the angle is not the setpoint. The volume is. The wrist rolls in, the station camera measures the column climbing in the channel, and the controller trims the tilt until the delivered volume reaches target, then rolls back out and holds.

Controlled jointJ6 wrist roll

Feedback signalcolumn height → mL

Loop rate5 Hz

Lead-out0.35 mL anticipation

Every other jointfixed, from YAML

Reservoir · 12 channels2.00 mL into 04

Delivered volume

Closed loopFixed angle

Shaded band is the ±0.2 mL the protocol allows. The dashed trace is the identical wrist motion with the camera ignored.

Hardware

Stock arm. Everything that touches glass, we printed.

ARM

reBot B601-RS

Seven RobStride joints on a 1 Mbps CAN bus, driven straight from a laptop through a USB-CAN adapter. No vendor stack anywhere in the loop.

GRIP

Fin-ray fingers

Hollow triangles with five fanned ribs. The contact wall bows inward under load and the tip swings in with it, so the finger closes around the tube rather than onto it.

EYES

38° gripper mount

One printed piece that slides onto the gripper block and stops against the frame. Holds the camera out over the fingertips, where the vial lip sits 5° above frame centre.

BENCH

One-piece station

Reservoir and measuring camera share a single tray, so moving the station never changes the calibration. Hand it to a judge and let them put it anywhere.

Live link

Watch a bench that isn't yours.

The laptop at the bench publishes joint angles, gripper state and pour progress continuously. Open this page anywhere, enter the bench code, and the arm above stops replaying and starts mirroring the real one.

Bench code

Bench LAB-4417 is our Cal Hacks bench. Connect opens its console: the live arm, both cameras and the controls. While a run is going, the arm above also switches to that bench's live joints by itself.

Open the console to ask for a run, approve it by voice and watch it here.

J1 base—

J2 shoulder—

J3 elbow—

J6 wrist—

Gripper—

Delivered—

Not connected

Wrist camera on the arm — Wrist · on the arm —

±0.2 mL.EVERY TIME.

Where the lab runs it.

Say it. Hear it back. Approve it.

Plate maps with four liquids

Every pour, graded

Every joint, 100 times a second

08:00 QC report

Who did what

Pour it by hand

Four moves. One of them is hard.

The finger bends, not the tube

The wrist never moves

Look first, then commit

One joint, closed loop

A tilt angle gets you a pour. It doesn't get you a volume.

Stock arm. Everything that touches glass, we printed.

reBot B601-RS

Fin-ray fingers

38° gripper mount

One-piece station

Watch a bench that isn't yours.

±0.2 mL.
EVERY TIME.