Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach
Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picking which consists in collecting parts from the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/1/419 |
| _version_ | 1797499487647694848 |
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| author | Ferdinando Vitolo Andrea Rega Castrese Di Marino Agnese Pasquariello Alessandro Zanella Stanislao Patalano |
| author_facet | Ferdinando Vitolo Andrea Rega Castrese Di Marino Agnese Pasquariello Alessandro Zanella Stanislao Patalano |
| author_sort | Ferdinando Vitolo |
| collection | DOAJ |
| description | Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picking which consists in collecting parts from the warehouse and distributing them among the workstations and vice-versa. That task can be completely performed by a Mobile Manipulator that is composed by an industrial manipulator assembled on a Mobile Robot. Although the Mobile Manipulators implementation brings advantages to industrial applications, they are still not widely used due to the lack of dedicated standards on control and safety. Furthermore, there are few integrated solutions and no specific or reference point allowing the safe integration of mobile robots and cobots (already owned by company). This work faces the integration of a generic mobile robot and collaborative robot selected from an identified set of both systems. The paper presents a safe and flexible mechatronic interface developed by using MBSE principles, multi-domain modeling, and adopting preliminary assumptions on the hardware and software synchronization level of both involved systems. The interface enables the re-using of owned robot systems differently from their native tasks. Furthermore, it provides an additional and redundant safety level by enabling power and force limiting both during cobot positioning and control system faulting. |
| first_indexed | 2024-03-10T03:49:03Z |
| format | Article |
| id | doaj.art-2f50cae279e641e4bb439efcea16e547 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T03:49:03Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2f50cae279e641e4bb439efcea16e5472023-11-23T11:12:44ZengMDPI AGApplied Sciences2076-34172022-01-0112141910.3390/app12010419Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE ApproachFerdinando Vitolo0Andrea Rega1Castrese Di Marino2Agnese Pasquariello3Alessandro Zanella4Stanislao Patalano5Fraunhofer J-Lab IDEAS, Department of Industrial Engineering, University of Naples Federico II, 80125 Naples, ItalyDepartment of Neurosciences, Reproductive and Odontostomatological Sciences, University of Naples Federico II, 80131 Naples, ItalyDepartment of Management, Information and Production Engineering, University of Bergamo, 24129 Bergamo, ItalyFraunhofer J-Lab IDEAS, Department of Industrial Engineering, University of Naples Federico II, 80125 Naples, ItalyCentro Ricerche FIAT SCpA, 10043 Orbassano, ItalyFraunhofer J-Lab IDEAS, Department of Industrial Engineering, University of Naples Federico II, 80125 Naples, ItalyEnabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picking which consists in collecting parts from the warehouse and distributing them among the workstations and vice-versa. That task can be completely performed by a Mobile Manipulator that is composed by an industrial manipulator assembled on a Mobile Robot. Although the Mobile Manipulators implementation brings advantages to industrial applications, they are still not widely used due to the lack of dedicated standards on control and safety. Furthermore, there are few integrated solutions and no specific or reference point allowing the safe integration of mobile robots and cobots (already owned by company). This work faces the integration of a generic mobile robot and collaborative robot selected from an identified set of both systems. The paper presents a safe and flexible mechatronic interface developed by using MBSE principles, multi-domain modeling, and adopting preliminary assumptions on the hardware and software synchronization level of both involved systems. The interface enables the re-using of owned robot systems differently from their native tasks. Furthermore, it provides an additional and redundant safety level by enabling power and force limiting both during cobot positioning and control system faulting.https://www.mdpi.com/2076-3417/12/1/419mobile cobotmobile robotmobile manipulatormechatronic systemmbsehuman safety |
| spellingShingle | Ferdinando Vitolo Andrea Rega Castrese Di Marino Agnese Pasquariello Alessandro Zanella Stanislao Patalano Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach Applied Sciences mobile cobot mobile robot mobile manipulator mechatronic system mbse human safety |
| title | Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach |
| title_full | Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach |
| title_fullStr | Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach |
| title_full_unstemmed | Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach |
| title_short | Mobile Robots and Cobots Integration: A Preliminary Design of a Mechatronic Interface by Using MBSE Approach |
| title_sort | mobile robots and cobots integration a preliminary design of a mechatronic interface by using mbse approach |
| topic | mobile cobot mobile robot mobile manipulator mechatronic system mbse human safety |
| url | https://www.mdpi.com/2076-3417/12/1/419 |
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