Motion systems for loading tips

A motion system comprising:

• a first drive screw;
• a second drive screw independently rotatable relative to the first drive screw;
• a pipettor head engaging the first drive screw and the second drive screw;
• a processor;
• and
• a computer readable medium storing data instructions for driving a pipettor head, wherein the data instructions, when executed by the processor, cause the motion system to:
• move the pipettor head using the first and the second drive screw;
• measure a first position of the pipettor head at a first location using a first position sensor and a second position of the pipettor head at a second location using a second position sensor, wherein the first location is along the first drive screw and the second location is along the second drive screw;
• measure a first force applied to the pipettor head by a plurality of pipette tips in response to a first insertion force applied the first drive screw, wherein the first force is unevenly distributed;
• calculate a first torque and a second torque based upon a set of parameters including the first force, the first position, and the second position;
• and
• apply the first torque to the first drive screw and the second torque to the second drive screw to counteract the uneven distribution of the first force.

A pipette workstation comprising:

• a deck configured to support a plurality of pipette tips;
• a first drive screw;
• a second drive screw;
• a pipettor head engaged to the first drive screw and the second drive screw, the pipettor head disposed above the deck and movable with respect to the deck in response to a first torque applied to the first drive screw and a second torque applied to the second drive screw;
• a first force sensor coupled to the first drive screw and configured to detect a first insertion force;
• and
• a controller configured to:
• move the pipettor head to engage using the first and second drive screw;
• measure a first position of the pipettor head at a first location using a first position sensor and a second position of the pipettor head at a second location using a second position sensor, wherein the first location is along the first drive screw and the second location is along the second drive screw;
• measure a first force applied to the pipettor head by a plurality of pipette tips in response to the first insertion force applied by the first drive screw, wherein the first force is unevenly distributed;
• calculate the first torque and the second torque based upon a set of parameters including the first force, the first position, and the second position;
• and
• apply the first torque to the first drive screw and the second torque to the second drive screw to counteract the uneven distribution of the first force.