Design and analysis of omnidirectional mobile material handling robots that can adapt to complex environments

Abstract

A high-precision omnidirectional mobile material handling robot that can adapt to complex environments is designed, which can be applied to material handling in miscellaneous scenarios such as narrow compartments, dense cargo racks or obstacles. The handling robot is equipped with a set of (four) Mecanum wheels, which are controlled by motion through the STM32 system, and can be translated and rotated in any direction and autonomously planned in the path with the vision system. The robotic arm is mainly composed of three vertically staggered screw stepper motors and the bottom gimbal, with multiple chrome-plated light rods and linear bearings to achieve all-round, high-precision and long-distance operation. The design establishes a three-dimensional model of the handling robot, uses additive manufacturing (3D printing) technology to test and make the key part of the robotic arm -sliding seat, and performs strength check analysis on the part. Finally, through the physical grasping, handling and placement experiments in various complex environments, the high accuracy of the motion trajectory of the above robot and the reliability of the actuator are verified.