In this paper we present the architecture of a mobile robotized system for logistic applications. The task to be performed consists of extracting items from homogeneous pallets and, subsequently, assembling new pallets with heterogeneous goods. A further requirement is the capability of a safe humanrobot interaction. For such purposes, we employ an autonomous mobile robot, equipped with a serial collaborative arm, a lifting mechanism, and a multi-sensor vision apparatus. The overall system is conceived to handle packages by dragging them aboard the mobile platform. Accordingly, we integrate a conveyor, whose vertical position can be adjusted by means of a scissor lifting mechanism. Thus, packages from different overlapping layers, which compose a generic pallet, can be introduced and stored on board.

Development of a Mobile Robotized System for Palletizing Applications

Baldassarri A.;Innero G.;Di Leva R.;Palli G.;Carricato M.
2020

Abstract

In this paper we present the architecture of a mobile robotized system for logistic applications. The task to be performed consists of extracting items from homogeneous pallets and, subsequently, assembling new pallets with heterogeneous goods. A further requirement is the capability of a safe humanrobot interaction. For such purposes, we employ an autonomous mobile robot, equipped with a serial collaborative arm, a lifting mechanism, and a multi-sensor vision apparatus. The overall system is conceived to handle packages by dragging them aboard the mobile platform. Accordingly, we integrate a conveyor, whose vertical position can be adjusted by means of a scissor lifting mechanism. Thus, packages from different overlapping layers, which compose a generic pallet, can be introduced and stored on board.
2020
25th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020
395
401
Baldassarri A.; Innero G.; Di Leva R.; Palli G.; Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/777368
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