Design and Development of an Omnidirectional Mobile Manipulator for Indoor Environment

摘要

In this paper, a mobile manipulator is developed and studied in order to manipulate the complicated objects and navigate in an indoor environment. The arm consists of an actuator that makes the first linkage to move in two degrees of freedom in the first step of the task. In the next mode of the task, another actuator causes the second linkage to move in the third degree of freedom. In addition, the arm contains a gripper that grabs a variety of objects such as a screw. Therefore, the robotic arm can manipulate objects, and the mobile robot connected to the arm can detect, classify and track targets in its surrounding. Results carried out that the manufactured robot is able to manipulate and navigate in an indoor environment. The designed autonomous robot in this study can be used as a logistical support in the factories by delivering parts from any random origin to any random destination. In this study, the innovative square platform enables the robot to avoid obstacles and navigate through the environment more efficiently.