Mobility Within a Manufacturing Cell

这项工作涉及开发和建造一种独特设计的自行式移动机器人。这项研究的目的是确定这样的机器人是否能够在制造单元中以足够的精确度和精确度移动和定位自己，以便它能够执行制造和组装任务。这一设计将包括将一个小型工业机器人安装在空气托盘上作为移动机制。手臂及其现有的关节执行器将用于将基地推向新的位置。现有的固定机器人手臂控制算法将应用于机器人操作的不同阶段。这些将被集成到一个整体控制系统中。这个项目将在情况允许的情况下检查制造单元的工作信封的扩展。这项研究将有助于提高无人电池的灵活性、容量和能力。

This work involves the development and building of a uniquely designed self-propelled mobile robot. The objective of the research is to determine if such a robot can move and locate itself in a manufacturing cell with sufficient accuracy and precision such that it can perform manufacturing and assembly tasks. This design will involve mounting a small industrial robot on an air pallet as the mechanism for mobility. The arm and its existing joint actuators will be used for propelling the base to its new locations. Existing fixed robot arm control algorithms will be applied to the different stages of the robot's operation. These will be integrated into an overall control system. This project will examine the expansion of manufacturing cells' work envelopes as circumstances warrant. The research can lead to the enhancement of the flexibility, capacity and capability of unmanned cells.