Abstract
In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.
Highlights
T HIS paper presents an automatized robotic device for logistics applications
A solution is proposed in [13] in which a collaborative robot is installed on a vertical frame transported by a mobile base; the serial arm is equipped with a suction gripper with 2 Degrees of Freedom (DoF) to optimize the product picking point
MECHANICAL ARCHITECTURE AND HARDWARE SELECTION According to our specifications, we propose to use a serial cobot UR10e provided by Universal Robot1 with a maximum payload of 10 kg, installed on a MiR1002 autonomous mobile robot (AMR) with an admissible onboard load of 100 kg
Summary
T HIS paper presents an automatized robotic device for logistics applications. This work is an extension of the conceptual design reported in [1]. Relevant examples of mobile robotics in industry are provided by the Amazon Picking Challenge (APC), for the autonomous picking of 25 different objects [12] For this challenge, a solution is proposed in [13] in which a collaborative robot is installed on a vertical frame transported by a mobile base; the serial arm is equipped with a suction gripper with 2 Degrees of Freedom (DoF) to optimize the product picking point. A solution for a similar application is shown in [17], where a collaborative robot is installed on a commercial motorized forklift, making it possible to both transport a pallet and process products on it The latter system is not capable of manipulating boxes, since the specific gripper design only admits the manipulation of small goods.
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