Abstract The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics


    Beteiligte:
    Pedemonte, Nicolò (Autor:in) / Rasheed, Tahir (Autor:in) / Marquez-Gamez, David (Autor:in) / Long, Philip (Autor:in) / Hocquard, Étienne (Autor:in) / Babin, Francois (Autor:in) / Fouché, Charlotte (Autor:in) / Caverot, Guy (Autor:in) / Girin, Alexis (Autor:in) / Caro, Stéphane (Autor:in)


    Erscheinungsdatum :

    2019-09-18


    Format / Umfang :

    23 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Cable-Driven Parallel Robot Accuracy Improving Using Visual Servoing

    Ennaiem, Ferdaws / Chaker, Abdelbadiâ / Sandoval, Juan et al. | Springer Verlag | 2022


    Cable-Driven Parallel Robot Accuracy Improving Using Visual Servoing

    Ennaiem, Ferdaws / Chaker, Abdelbadiâ / Sandoval, Juan et al. | TIBKAT | 2022


    CABLE-DRIVEN PARALLEL ROBOT FOR CLEANING OF SHIP HULL

    KO SEONG YOUNG / PARK SUK HO / PARK JONG OH et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Cable-driven parallel robot for curtain wall module installation

    Iturralde K. / Feucht M. / Illner D. et al. | BASE | 2022

    Freier Zugriff

    CABLE-DRIVEN PARALLEL ROBOT FOR CLEANING OF SHIP HULL

    Europäisches Patentamt | 2016

    Freier Zugriff