Design and Development of a Mobile Robot for Material Handling

Authors

  • B. Bharat Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati-781039, Assam, India
  • B. S. Kiran Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati-781039, Assam, India
  • D. Bandopadhya Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati-781039, Assam, India

DOI:

https://doi.org/10.37591/joarb.v2i2.438

Abstract

A semi-autonomous mobile robot has been designed and developed for regular shaped material handling application. The robot has in-built platform with three revolute joint arms supported by wheeled locomotion. Acrylic polymer sheets are used and three wheeler mobile platforms with various linkages have been fabricated and assembled. Forward kinematic model has been derived after constituting the D-H parameters of the manipulator, and the end-effector position is shown in the work envelope for a particular configuration. Servo motors along with the micro-controller were integrated with the hardware setup that controls the motion of the robot on the shop floor. A hand held instructing unit is used and the robotic system was tested for material handling with displayed features such as “search and locate” operation of objects. The mobile robotic manipulator developed is very cost effective and suitable for academic study as well.

Keywords: Autonomous, Mobile-Robot, Forward-Kinematics, Servo-Mechanism, Work- Envelope

 

Cite this Article
Bharat B, Kiran BS, Bandopadhya D. Design and Development of a Mobile Robot for Material Handling, Journal of Advancements in Robotics. 2015; 2(2): 1–14p.

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Published

2015-12-23

Issue

Vol. 2 No. 2 (2015)

Section

Research Articles

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