SABER: Modular Reconfigurable Robot for Industrial Applications

摘要

This study proposes a heterogeneous modular reconfigurable robot called SABER that is suitable for industrial applications. The SABER is a Step, Assembler, Bridge, Explorer Robot comprising a platform and a reconfigurable rail; it can work in three different configurations: monowheel, rail trolley, and manipulator. The monowheel configuration provides locomotion with a speed up to 10 km/h. The rail trolley configuration allows the robot to overcome gaps larger than its wheel diameter, climb steps as large as the wheel radius, and pass through passages smaller than the wheel diameter. The manipulator configuration enables the robot to manipulate objects using two robotic arms with changeable tools. This design allows several SABERs to work cooperatively, extending capabilities of their mechanics or enlarging the working area. As such, SABERs can address various tasks, including material handling, assembly, diagnostic, and maintenance applications, revealing a concept of universal robots for future factories. Robot performance in terms of the speed, acceleration, oscillation, and gap/step handling was numerically analyzed, showing that SABER is comparable with or better than existing autonomous mobile robots and modular reconfigurable robots.