Opentrons Flex Gripper - automated labware movement between deck locations, modules, waste chute, and off-deck storage with precise positioning and offset control for hands-free plate transfers
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Opentrons Flex Gripper - automated labware movement between deck locations, modules, waste chute, and off-deck storage with precise positioning and offset control for hands-free plate transfers
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Opentrons Flex Gripper
Overview
The Opentrons Flex Gripper enables fully automated labware movement without manual intervention. It moves plates, reservoirs, and tip racks between deck slots, hardware modules, trash/waste chute, and off-deck storage with precise positioning and optional offset adjustments.
Core value: Eliminate manual plate transfers during protocols. Automatically move labware between modules, enabling complex multi-step workflows without pausing for user intervention.
Platform: Opentrons Flex only (not available on OT-2)
When to Use
Use the Gripper skill when:
Moving labware between deck locations automatically
Transferring plates between hardware modules (Temperature, Heater-Shaker, Magnetic Block, etc.)
Loading plates onto Absorbance Reader or Thermocycler
Disposing labware in waste chute
Moving labware to/from off-deck storage
Automating workflows that would otherwise require manual intervention
Don't use when:
Working with OT-2 robot (gripper is Flex-only)
Labware is not grippable (lacks compatible geometry/features)
Manual control is preferred for delicate operations
Pipette can accomplish the task without moving entire labware
Set use_gripper=False to pause protocol for user to manually move labware:
# Pause for manual movement
protocol.move_labware(
labware=delicate_plate,
new_location="D3",
use_gripper=False# Protocol pauses, user moves plate manually
)
Use case: Delicate labware, non-grippable items, or troubleshooting
Module Integration
Temperature Module
temp_mod = protocol.load_module("temperature module gen2", "D1")
plate = protocol.load_labware("corning_96_wellplate_360ul_flat", "C2")
# Move to temperature module
protocol.move_labware(plate, temp_mod, use_gripper=True)
# Set temperature
temp_mod.set_temperature(4)
protocol.delay(minutes=5)
# Move off module
protocol.move_labware(plate, "C2", use_gripper=True)
temp_mod.deactivate()
Heater-Shaker Module
Critical: Open labware latch before gripper operations
hs_mod = protocol.load_module("heaterShakerModuleV1", "D1")
adapter = hs_mod.load_adapter("opentrons_96_flat_bottom_adapter")
plate = protocol.load_labware("corning_96_wellplate_360ul_flat", "C2")
# Open latch BEFORE moving plate to module
hs_mod.open_labware_latch()
# Move plate to heater-shaker
protocol.move_labware(plate, hs_mod, use_gripper=True)
# Close latch for shaking
hs_mod.close_labware_latch()
hs_mod.set_and_wait_for_temperature(37)
hs_mod.set_and_wait_for_shake_speed(500)
protocol.delay(minutes=10)
hs_mod.deactivate_shaker()
hs_mod.deactivate_heater()
# Open latch BEFORE removing plate
hs_mod.open_labware_latch()
# Move plate off module
protocol.move_labware(plate, "C2", use_gripper=True)
Thermocycler Module
Critical: Open lid before gripper operations
tc_mod = protocol.load_module("thermocyclerModuleV2")
plate = protocol.load_labware("opentrons_96_wellplate_200ul_pcr_full_skirt", "C2")
# Open lid BEFORE moving plate to thermocycler
tc_mod.open_lid()
# Move plate to thermocycler
protocol.move_labware(plate, tc_mod, use_gripper=True)
# Close lid and run PCR
tc_mod.close_lid()
tc_mod.set_lid_temperature(105)
# ... PCR cycling ...# Open lid BEFORE removing plate
tc_mod.open_lid()
# Move plate off thermocycler
protocol.move_labware(plate, "C2", use_gripper=True)
Magnetic Block (Flex)
mag_block = protocol.load_module("magneticBlockV1", "D1")
mag_plate = protocol.load_labware("biorad_96_wellplate_200ul_pcr", "C2")
# Move plate to magnetic block for bead separation
protocol.move_labware(mag_plate, mag_block, use_gripper=True)
# Wait for beads to collect
protocol.delay(minutes=3)
# Pipette supernatant (beads held by magnets)
pipette.transfer(150, mag_plate.wells(), waste.wells())
# Move plate off magnets for resuspension
protocol.move_labware(mag_plate, "C2", use_gripper=True)
Absorbance Plate Reader
Critical: Reader lid must be open before gripper operations
reader = protocol.load_module("absorbanceReaderV1", "D3")
assay_plate = protocol.load_labware("corning_96_wellplate_360ul_flat", "C2")
# Initialize reader
reader.close_lid()
reader.initialize(mode="single", wavelengths=[450])
# Open lid BEFORE moving plate to reader
reader.open_lid()
# Move plate to reader
protocol.move_labware(assay_plate, reader, use_gripper=True)
# Close lid and read
reader.close_lid()
data = reader.read()
# Open lid BEFORE removing plate
reader.open_lid()
# Move plate off reader
protocol.move_labware(assay_plate, "C2", use_gripper=True)
Common Patterns
Multi-Module Workflow
# DNA extraction with module transfers
sample_plate = protocol.load_labware("biorad_96_wellplate_200ul_pcr", "C1")
hs_mod = protocol.load_module("heaterShakerModuleV1", "D1")
mag_block = protocol.load_module("magneticBlockV1", "D2")
temp_mod = protocol.load_module("temperature module gen2", "D3")
# 1. Lysis on heater-shaker
hs_mod.open_labware_latch()
protocol.move_labware(sample_plate, hs_mod, use_gripper=True)
hs_mod.close_labware_latch()
hs_mod.set_and_wait_for_temperature(56)
hs_mod.set_and_wait_for_shake_speed(1000)
protocol.delay(minutes=15)
hs_mod.deactivate_shaker()
hs_mod.deactivate_heater()
hs_mod.open_labware_latch()
# 2. Bead binding on magnetic block
protocol.move_labware(sample_plate, mag_block, use_gripper=True)
protocol.delay(minutes=3)
pipette.transfer(150, sample_plate.wells(), waste.wells())
# 3. Elution on temperature module (cold)
protocol.move_labware(sample_plate, temp_mod, use_gripper=True)
temp_mod.set_temperature(4)
pipette.transfer(50, elution_buffer, sample_plate.wells())
# 4. Return to deck
protocol.move_labware(sample_plate, "C1", use_gripper=True)
temp_mod.deactivate()
Plate Stacking Workflow
# Process multiple plates sequentially
plates = [
protocol.load_labware("corning_96_wellplate_360ul_flat", "C1"),
protocol.load_labware("corning_96_wellplate_360ul_flat", "C2"),
protocol.load_labware("corning_96_wellplate_360ul_flat", "C3")
]
reader = protocol.load_module("absorbanceReaderV1", "D3")
reader.close_lid()
reader.initialize(mode="single", wavelengths=[600])
reader.open_lid()
for i, plate inenumerate(plates):
# Read each plate
protocol.move_labware(plate, reader, use_gripper=True)
reader.close_lid()
data = reader.read(export_filename=f"plate_{i+1}_od600")
reader.open_lid()
# Move to off-deck storage
protocol.move_labware(plate, OFF_DECK, use_gripper=True)
Waste Management
# Dispose of used consumables
waste_chute = protocol.load_waste_chute()
# After using tip rack
protocol.move_labware(empty_tips, waste_chute, use_gripper=True)
# After processing sample plate
protocol.move_labware(used_plate, waste_chute, use_gripper=True)
Dynamic Deck Space Management
# Free up deck space by moving inactive labware off-deck
storage = OFF_DECK
# Initial setup - plates start on deck
plate_1 = protocol.load_labware("corning_96_wellplate_360ul_flat", "B1")
plate_2 = protocol.load_labware("corning_96_wellplate_360ul_flat", "B2")
plate_3 = protocol.load_labware("corning_96_wellplate_360ul_flat", "B3")
# Process plate 1# ... operations on plate_1 ...# Move plate 1 off-deck to free space
protocol.move_labware(plate_1, storage, use_gripper=True)
# Process plate 2# ... operations on plate_2 ...# Retrieve plate 1 when needed again
protocol.move_labware(plate_1, "B1", use_gripper=True)
Grippable Labware
The gripper can only move labware with compatible geometry.
Compatible Features
Labware must have one of:
Gripper-compatible rim - Extended lip or ridge for gripper jaws
Most Opentrons labware and major brands (Corning, NEST, Axygen, Bio-Rad) are gripper-compatible. Check labware definition or test before protocol deployment.
Non-Grippable Labware
Examples of labware that may NOT be grippable:
Very small tubes or vials without grip features
Irregularly shaped containers
Custom labware without gripper considerations
Delicate or fragile items
Solution: Use use_gripper=False to prompt manual movement, or use adapters.
Best Practices
Open module lids/latches before gripper movement - Required for Heater-Shaker, Thermocycler, Absorbance Reader
Use descriptive variable names - Track labware clearly through movements
Test with simulation first - Verify gripper movements before running on hardware
Add protocol comments - Document why labware is being moved
Plan deck layout - Minimize unnecessary movements, optimize for efficiency
Use OFF_DECK strategically - Free up deck space for complex protocols
Check labware compatibility - Ensure labware is grippable before deploying
Use offsets judiciously - Only when necessary for proper positioning
Consider manual fallback - Have use_gripper=False backup for troubleshooting
Dispose properly - Use waste chute for used consumables to maintain workspace
Ensure module lids are open (Thermocycler, Absorbance Reader)
Verify Heater-Shaker latch is open
Check deck layout for obstructions
Confirm destination location is clear
Labware not properly seated after movement:
Adjust drop_offset to ensure proper placement
Check module/adapter compatibility with labware
Verify destination surface is level and clear
Protocol pauses unexpectedly:
Check that use_gripper=True is specified
Verify gripper is enabled for protocol
Ensure labware is grippable
OFF_DECK movement errors:
Import OFF_DECK constant: from opentrons.protocol_api import OFF_DECK
Track labware location - cannot move from OFF_DECK if not there
Ensure sufficient off-deck storage slots
Advanced Techniques
Conditional Gripper Use
# Use gripper for standard labware, manual for customdefmove_smart(protocol, labware, destination, is_grippable=True):
if is_grippable:
protocol.move_labware(labware, destination, use_gripper=True)
else:
protocol.comment(f"Please manually move {labware} to {destination}")
protocol.move_labware(labware, destination, use_gripper=False)
move_smart(protocol, standard_plate, "D2", is_grippable=True)
move_smart(protocol, custom_tubes, "D3", is_grippable=False)
Offset Calibration Helper
# Test offsets to find optimal valuesdeftest_gripper_offset(protocol, labware, destination, z_offset_range):
for z in z_offset_range:
protocol.comment(f"Testing pickup offset z={z}")
protocol.move_labware(
labware,
destination,
use_gripper=True,
pick_up_offset={"x": 0, "y": 0, "z": z}
)
protocol.pause("Check if pickup was successful. Resume to continue.")
# Move back
protocol.move_labware(labware, "C1", use_gripper=True)
# Run test
test_gripper_offset(protocol, test_plate, "D2", z_offset_range=[0, 1, 2, 3])
Plate Carousel Pattern
# Rotate plates through processing stationsdefprocess_plate_carousel(protocol, plates, processing_station):
"""Process multiple plates through single module."""for i, plate inenumerate(plates):
protocol.comment(f"Processing plate {i+1}/{len(plates)}")
# Move to processing station
protocol.move_labware(plate, processing_station, use_gripper=True)
# Process (example: read absorbance)# ... processing steps ...# Move to archive
protocol.move_labware(plate, OFF_DECK, use_gripper=True)
process_plate_carousel(protocol, [plate1, plate2, plate3], reader_module)
Deck Layout Planning
Tips for efficient gripper workflows:
Keep high-traffic locations accessible - Place frequently moved labware in central deck positions
Group modules logically - Arrange modules in workflow order to minimize travel distance
Reserve column 4 for Absorbance Reader - If using reader, entire column 4 is staging area
Use OFF_DECK for storage - Free up deck space for active labware
Plan waste chute access - Ensure gripper can reach waste chute without obstacles
Example efficient layout:
1 2 3 4
A [Plates] [Module1] [Reader] [Reserved]
B [Plates] [Module2] [Reader] [Reserved]
C [Tips] [Reagent] [Reader] [Reserved]
D [Tips] [Waste] [Reader] [Reserved]
Integration with Staging Area Slots
Flex staging area slots (column 4: A4, B4, C4, D4) are used for:
Absorbance Reader lid storage (automatic)
Temporary labware holding
Gripper intermediate positions
Important: When Absorbance Reader is loaded, column 4 cannot be used for labware.
API Version Requirements
Minimum API version: 2.15 (gripper support introduced)
