A. Gmerek, A. Plastropoulos, M. Kimball, A. Sain, K. Shah, A. Wheatley, P. Collins, P. T. Karfakis, J. Liu, J. Carroll, G. Virk
{"title":"A novel holonomic mobile manipulator robot for construction sites","authors":"A. Gmerek, A. Plastropoulos, M. Kimball, A. Sain, K. Shah, A. Wheatley, P. Collins, P. T. Karfakis, J. Liu, J. Carroll, G. Virk","doi":"10.13180/clawar.2018.10-12.09.36","DOIUrl":null,"url":null,"abstract":"This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics Transforming the Future","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.13180/clawar.2018.10-12.09.36","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.
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