Reconfigurable autonomous industrial mobile manipulator system

摘要

The manufacturing industry is moving from mass production towards more personalized products through mass customization. In order to adapt factories should be highly flexible and rapidly able to adjust their operations.The new technologies and concepts in industry 4.0 are important in the transition from mass-to flexible and personalized manufacturing systems. One such specific tool for increased flexibility is the introduction of an Autonomous Industrial Mobile Manipulator (AIMM). The AIMM provides mobility with its mobile part and increased flexibility and functionality with the robot arm. However, a disadvantage with AIMM systems is that when the mobile robot is moving the robot arm cannot work; when the robot arm is working, the mobile robot cannot drive. This creates downtime for both the mobile robot and the robot arm.In this paper, we will look at how an AIMM can be divided into two parts for increased utilization of the mobile part and robot arm of the AIMM. Our approach is to physically divide the system into two parts, one with the mobile robot and a second with the robot arm on a trolley. In this case, the mobile robot can transport the robot arm, detach from the robot arm and perform other tasks while the robot arm is working at its new location.