A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation
This work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar t...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-01-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/9/3/368 |
| _version_ | 1818144632939216896 |
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| author | Guo Li Rui Lin Maohai Li Rongchuan Sun Songhao Piao |
| author_facet | Guo Li Rui Lin Maohai Li Rongchuan Sun Songhao Piao |
| author_sort | Guo Li |
| collection | DOAJ |
| description | This work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar to two forks of the forklift, but the slave robot does not have any physical or mechanical connection with the master robot. A compact driving unit was designed and used to ensure access to the narrow free entry under the pallets. It was also possible for the mobile robot to perform a synchronous pallet lifting action. In order to ensure the consistency and synchronization of the motions of the two sub robots, high-gain observer was used to synchronize the moving speed, the lifting speed and the relative position. Compared with the traditional forklift AGV (Automated Guided Vehicle), the mobile robot has the advantages of more compact structure, higher expandability and safety. It can move flexibly and take zero-radius turn. Therefore, the intelligent mobile robot is quite suitable for the standardized logistics factory with small working space. |
| first_indexed | 2024-12-11T11:50:39Z |
| format | Article |
| id | doaj.art-2088c849ca1b4b6f8d1a6a4d957d41ba |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-11T11:50:39Z |
| publishDate | 2019-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2088c849ca1b4b6f8d1a6a4d957d41ba2022-12-22T01:08:21ZengMDPI AGApplied Sciences2076-34172019-01-019336810.3390/app9030368app9030368A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet TransportationGuo Li0Rui Lin1Maohai Li2Rongchuan Sun3Songhao Piao4Department of Computer Science and Technology, Harbin Institute of Technology, Harbin, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaDepartment of Computer Science and Technology, Harbin Institute of Technology, Harbin, ChinaThis work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar to two forks of the forklift, but the slave robot does not have any physical or mechanical connection with the master robot. A compact driving unit was designed and used to ensure access to the narrow free entry under the pallets. It was also possible for the mobile robot to perform a synchronous pallet lifting action. In order to ensure the consistency and synchronization of the motions of the two sub robots, high-gain observer was used to synchronize the moving speed, the lifting speed and the relative position. Compared with the traditional forklift AGV (Automated Guided Vehicle), the mobile robot has the advantages of more compact structure, higher expandability and safety. It can move flexibly and take zero-radius turn. Therefore, the intelligent mobile robot is quite suitable for the standardized logistics factory with small working space.https://www.mdpi.com/2076-3417/9/3/368intelligent mobile robotpallet transportationmaster-slavecompact driving unithigh-gain observer |
| spellingShingle | Guo Li Rui Lin Maohai Li Rongchuan Sun Songhao Piao A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation Applied Sciences intelligent mobile robot pallet transportation master-slave compact driving unit high-gain observer |
| title | A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation |
| title_full | A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation |
| title_fullStr | A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation |
| title_full_unstemmed | A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation |
| title_short | A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation |
| title_sort | master slave separate parallel intelligent mobile robot used for autonomous pallet transportation |
| topic | intelligent mobile robot pallet transportation master-slave compact driving unit high-gain observer |
| url | https://www.mdpi.com/2076-3417/9/3/368 |
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