Mobility Within a Manufacturing Cell

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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.