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Development of a Three-Mobile-Robot System for Cooperative Transportation

文献类型： 外文期刊

作者： Fan, Changxiang 1 ; Zeng, Fan 3 ; Shirafuji, Shouhei 2 ; Ota, Jun 2 ;

作者机构： 1.Guangdong Acad Agr Sci IFA, GDAAS, Inst Facil Agr, Guangzhou 510640, Guangdong, Peoples R China

2.Univ Tokyo, Res Artifacts Ctr Engn RACE, Sch Engn, Tokyo 1138656, Japan

3.Univ Tokyo, Grad Sch Engn, Dept Precis Engn, Tokyo 1138656, Japan

关键词： control; mechanism design; mobile robots; robot design; theoretical kinematics

期刊名称：JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME （ 影响因子：2.6； 五年影响因子：2.6 ）

ISSN： 1942-4302

年卷期： 2024 年 16 卷 2 期

页码：

收录情况： SCI

摘要： The transportation of large-scale objects in a narrow space is a challenging, but useful application for mobile robots. We have developed a three-mobile-robot system to cooperatively lift, support, and transport a large object on a mobile robot system. To facilitate the manipulation involved with loading an object onto the robots, where the robots must maintain firm contact with the object and anchor at its location, we designed an adaptable mechanism for the object-loading platform and a liftable brake to ensure that the robot remains stationary when necessary. Furthermore, each robot is designed to act as an omnidirectional wheel; therefore, all three robots can work as an omnidirectional block when collectively loading an object. The kinematic constraints of the object-robot system and forward kinematics of the robots' cooperative motion are proposed, and experiments are conducted to confirm the designed mechanisms and confirm that the robots can load an object and cooperatively transport it along the expected trajectory.

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