Multi-axis agitation apparatus with self-centering neck clamp for multi-vessel handling

A multi-axis agitation apparatus, comprising:

• a movable platform configured to support a plurality of vessels;
• at least one clamp assembly mounted on the movable platform, wherein the clamp assembly comprises:
• a support structure fixed relative to the movable platform;
• and
• a movable clamping member coupled to the support structure by at least one threaded fastener, wherein the movable clamping member comprises:
• an upper plate and a lower plate spaced apart by a plurality of spacers to form a guided assembly;
• and
• a plurality of contact points disposed between the upper plate and the lower plate,
• wherein the threaded fastener is engaged with a threaded hole of the support structure such that rotation of the threaded fastener produces linear translation of the movable clamping member relative to the support structure, and
• wherein the contact points are constrained by the geometry of the upper plate, lower plate, and the plurality of spacers to move along a curved path, wherein each contact point undergoes combined radial inward movement toward a neck portion of a vessel and circumferential displacement around the neck portion to center the vessel,
• a motion actuation assembly operatively coupled to the movable platform, wherein the motion actuation assembly comprises:
• a driving unit having a motor shaft;
• a motion conversion unit coupled to the motor shaft, wherein the motion conversion unit is configured to convert rotational motion of the motor shaft into multi-axis displacement along at least three orthogonal axes intersecting at a common point;
• and
• a multi-frame structure coupled to the motion conversion unit and supporting the movable platform,
• wherein the motion actuation assembly is configured such that rotation of the driving unit produces coordinated multi-axis motion of the movable platform while maintaining the longitudinal axis of each vessel substantially vertical during motion,
• wherein the at least one clamp assembly and the motion actuation assembly cooperatively maintain vessel alignment during multi-axis motion through self-centering engagement of the neck portion.