Modular End-Effector on Mobile Robot with Automated Change Station

Abstract

In this paper, we propose a novel solution to current demands in agile manufacturing. A fleet of mobile robotic agents utilizing omnidirectional wheels is designed to apply to a variety of manufacturing environments. The fleet can be controlled remotely through a web-based user interface – either by manual control or utilizing optimization algorithms with a priority queue to accomplish tasks efficiently. Additionally, an internal feedback control-loop is developed for accurate position and velocity control for potential use in path planning. Lastly, a novel design for modular end-effectors and an automated docking station solution for removal and re-attachment of such modules is developed. The system is designed for simple integration into existing manufacturing environments, while being low-cost and reliable.