Extended Data Fig. 5: Multipurpose gripper used in the workflow.
From: A mobile robotic chemist
The gripper is shown grasping various objects. a, The empty gripper; b, gripper holding a capped sample vial (top grasp); c, gripper holding an uncapped sample vial (side grasp); d, gripper holding a solid-dispensing cartridge; and e, gripper holding a full sample rack using an outwards grasp that locks into recesses in the rack. The same gripper was also used to activate the gas chromatography instrument using a physical button press (see Supplementary Video 3; 1 min 52 s).
