Abstract
The current paper presents an upgrade of a pre-installed hydraulic system for the operation of a pallet handling robot for a freight delivery vehicle known as FURBOT (freight urban robotic vehicle). The automated forklift installed on FURBOT for loading/unloading of cargo is powered with the help of hydraulics. The previous hydraulic system worked via a classical approach with a fixed displacement pump and a bypass valve, making it work on full power when in use. An alternative design was proposed, simulated and installed on FURBOT; it uses a fixed displacement pump and changes the rotation speed in real time using a pressure sensor. Novelty was attained with the use of gear pumps for said scenario. A control algorithm is implemented in the processing unit for controlling the speed of the motor driving the pump. The main advantage of this approach is better use of energy for the vehicle’s battery. The aim of this research is to control both the speed and maximum force exerted by the actuators with the help of a single sensor and an inexpensive pump.
Highlights
IntroductionThe idea behind the FURBOT (freight urban robotic vehicle) project was to propose a light-duty, efficient, sustainable and fully electrical freight vehicle for urban environments
The idea behind the FURBOT project was to propose a light-duty, efficient, sustainable and fully electrical freight vehicle for urban environments
Controller proposed above could regulate the pressure with a certain class of system composed of an electric drive and a constant displacement hydraulic pump, without the need for a full mathematical model of the Furbot subsystems
Summary
The idea behind the FURBOT (freight urban robotic vehicle) project was to propose a light-duty, efficient, sustainable and fully electrical freight vehicle for urban environments. The truck features a pallet handling robot and active suspension for loading/unloading operations. The pallet handling robot installed in the truck requires automation, and it is desired that it should be energy efficient. It should be optimized for performance and be safe for use. The upgradation of FURBOT is being carried out presently, as the vehicle is required to perform at the H2020 Research and Innovation Programme, SHOW (SHared automation Operating models for Worldwide adoption). Apart from the work which is being carried out for its automation [1,2], the hardware upgradation of the vehicle is very critical for its performance, especially the safe operation of its robotic forklift.
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