Welcome to the documentation for the pipetting robotware project at https://gitlab.com/pipettin-bot/pipettin-grbl.

An online version of this documentation is available through GitLab pages.

Note: Though a functional prototype has been built, this documentation is in its first stage of development. Please let us know if you wish to help out :)


Pipetting-GRBL is a toolchanging cartesian CNC machine and software, developed to automate liquid handling of the elemental laboratory protocols and preparations.

Project licensing

These docs you are currently reading were made in GitBuilding, and are licensed under a Creative Commons CC-BY-SA license.

The project is released under the terms of the CERN-OHL-S license for its hardware, and under the GNU GPLv3 licence license for the software. See also the LICENSE file at the project's main GitLab repository.


Note: Under construction! As of August 2022, the most mature guide is the assembly guide. The usage guide is a WIP, and the remaining guides are not yet populated. Development documentation is available at the main repo.

There are five main guides:



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About this documentation

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License


Thanks to reGOSH for sparking my interest on CNCs and teaching me the basics during the 2019 residency in Porto Alegre. I owe a grand debt of gratitude to Renan Soares for setting a great example of passion for making truly free tech.

This project is partially funded by GOSH's Collaborative Development Program, that awarded us phase 1 funding on the “New Project Track”. We thank the Gathering for Open Science Hardware (http://openhardware.science) and the Alfred P. Sloan Foundation (https://sloan.org) for their support.