Development of a Three-Mobile-Robot System for Cooperative Transportation
Development of a Three-Mobile-Robot System for Cooperative Transportation
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DOI：
10.1115/1.4056771
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发表时间：
2024-02-01
影响因子：
2.6
通讯作者：
Ota，Jun
中科院分区：
文献类型：
--
作者：
Fan，Changxiang;Zeng，Fan;Ota，Jun
在狭窄的空间中运输大型物体是移动的机器人的一个具有挑战性但有用的应用。我们已经开发了一个三个移动的机器人系统，以协同升降，支持和运输一个大型物体的移动的机器人系统。为了方便将物体装载到机器人上的操作，机器人必须与物体和其位置处的锚保持牢固接触，我们为物体装载平台设计了一个自适应机制和一个可升降的制动器，以确保机器人在必要时保持静止。此外，每个机器人都被设计成一个全向轮;因此，当集体装载物体时，所有三个机器人都可以作为一个全向块工作。给出了物体-机器人系统的运动学约束条件和机器人协同运动的正向运动学，并通过实验验证了所设计的机构，证实了机器人能够装载物体并沿预期轨迹沿着协同搬运。
The transportation of large-scale objects in a narrow space is a challenging, but useful application for mobile robots. We have developed a three-mobile-robot system to cooperatively lift, support, and transport a large object on a mobile robot system. To facilitate the manipulation involved with loading an object onto the robots, where the robots must maintain firm contact with the object and anchor at its location, we designed an adaptable mechanism for the object-loading platform and a liftable brake to ensure that the robot remains stationary when necessary. Furthermore, each robot is designed to act as an omnidirectional wheel; therefore, all three robots can work as an omnidirectional block when collectively loading an object. The kinematic constraints of the object–robot system and forward kinematics of the robots’ cooperative motion are proposed, and experiments are conducted to confirm the designed mechanisms and confirm that the robots can load an object and cooperatively transport it along the expected trajectory.