In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Mobile Robotized System for Depalletizing Applications: Design and Experimentation



    Erscheinungsdatum :

    01.01.2021



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Design and Implementation the Robotics System for Glass Containers Depalletizing

    Kalapyshina, Irina I. / Nuzhdin, Konstantin A. | TIBKAT | 2022


    Tool and method for layer depalletizing

    MORENCY SYLVAIN-PAUL / DUCHARME MARC / JODOIN ROBERT et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    TOOL AND METHOD FOR LAYER DEPALLETIZING

    MORENCY SYLVAIN-PAUL / DUCHARME MARC / JODOIN ROBERT et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    TOOL AND METHOD FOR LAYER DEPALLETIZING

    MORENCY SYLVAIN-PAUL / DUCHARME MARC / JODOIN ROBERT et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    TOOL AND METHOD FOR LAYER DEPALLETIZING

    MORENCY SYLVAIN-PAUL / DUCHARME MARC / JODOIN ROBERT et al. | Europäisches Patentamt | 2023

    Freier Zugriff