In this paper, we have dealt with the problem to transport large heavy objects using a group of small mobile robots.\nGenerally, payload of the robot, the maximum weight of the object that the robot can operate, is very small and they\ncannot transport heavy objects with standard coordinated grasping methodology. This paper considers a method\nof transporting an object using handcarts by tilting the object to load it on the handcarts. To resolve the problem\nof avoiding overturning of the object by the robots and sliding of the handcart while tilting the object, an outrigger\ndevice is used to prevent the first problem of tilting, and a handcart locking device is used to prevent the second\nproblem of sliding. As both devices need to be used only when necessary, a mechanism that can fix and release the\ndevices according to situations is newly designed. Two robots were trial fabricated: an object-tilting robot equipped\nwith an outrigger mechanism and a handcart transport robot to handle the handcarts. Both robots are smaller\nthan 0.6 m Ã?â?? 0.6 m with payload of 2.5 kg. They are equipped with a handcart mechanism that can be locked and\nunlocked. The use of the coordination and lock mechanisms by these robots has realized transport of objects approximately\n1 m high and weighing approximately 35 kg and demonstrated the effectiveness of the proposed system in a\nreal-world environment where robot mechanism errors, mobility errors, and observation errors occur.
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