In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

Zaccaria F.;Baldassarri A.;Palli G.;Carricato M.
2021

Abstract

In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.
Zaccaria F.; Baldassarri A.; Palli G.; Carricato M.
File in questo prodotto:
File Dimensione Formato  
Zaccaria-Baldassarri-Palli-Carricato_ACCESS2021_Published.pdf

accesso aperto

Descrizione: Full-text published article
Tipo: Versione (PDF) editoriale
Licenza: Licenza per Accesso Aperto. Creative Commons Attribuzione (CCBY)
Dimensione 2.9 MB
Formato Adobe PDF
2.9 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/829093
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? 0
social impact