Mobility Within a Manufacturing Cell

这项工作包括开发和建造一个独特设计的自推进移动机器人。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度和精度移动和定位自己，从而能够执行制造和装配任务。这个设计将包括安装一个小型工业机器人在一个空气托盘作为移动机制。该机械臂及其现有的关节执行器将用于将基座推进到新的位置。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。这些将被整合到一个整体的控制系统中。该项目将根据情况检查制造单元的工作信封的扩展。该研究可以提高无人驾驶单元的灵活性、容量和性能。

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.