Applications and design methodology of mobile robotic manipulators

摘要

Mobile manipulators are instrumental in enhancing efficiency and autonomy across various industries, showcasing versatility and adaptability in different scenarios. This review delves into the theories, technologies and applications of mobile robotic manipulators, tracing their evolution and detailing key components such as system composition, path planning, perception, mechanism, and interaction techniques for future innovation. The paper seeks to clarify the elements that make mobile manipulators effective and versatile. It conducts a comparative analysis of their applications in primary, secondary, and tertiary sectors, noting the distinct demands and features of mobile manipulators in each industry setting. At the same time, it also provides a set of methodologies from mechanical design of robotic arms and overall design of the robots through modular research on system composition to path planning, perception, and interaction technology, which are of great significance to the mobile manipulators of the design of next generation. Additionally, the paper suggests a holistic approach to design mobile manipulators, underscoring the necessity of user-centric design and adaptability. Concluding with an outlook, the paper points out the potential for further progress in mobile manipulator technology and increased usage in various application areas.