期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 57, 期 -, 页码 412-421出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2019.01.002
关键词
Cooperative mobile robots; Design of lifting mechanisms; Object manipulation and transportation
资金
- French government research program Investissements d'avenir through IMobS3 Laboratory of Excellence LABEX [ANR-10-LABX-16-01]
- RobotEx Equipment of Excellence [ANR-10-EQPX-44]
- European Union
This paper presents a design methodology for creating cooperative robots capable to manipulate and transport payloads. The strategy is based on tightening a payload between a set of mobile robots called m-bots. A lifting mechanism with two degrees of freedom mounted on each mobile robot allows then to lift the payload and put it on each m-bot top platform to be transported. Structural and dimensional analysis are detailed in order to develop the proposed mechanism. 3D multi-body dynamic software simulation results using different actuation for the lifting mechanism are presented. Experiments based on a developed test-bench and manufactured prototypes allow to validate the lifting process of the payload.
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