SwarmRail is a novel solution for overhead manipulation from a mobile unit driving in an above-ground rail structure.
The system was presented to the public for the first time at the ICRA 2020.
Specifications of the Functional Demonstrator
size:
362 mm × 362 mm × 263 mm (l × w × h)
mass:
~ 17.5 kg
max. speed:
0.5 m/s
payload:
10 kg
motors:
4 x brushed DC gearmotor (Pololu 4752)
sensors:
4 × IR gap detection (EXP-R63-145) 8 × IR edge detection (Iduino ST1081) 1 × IMU (6DOF MPU6050)
wheels:
8 × driven omni-wheels (Rotacaster R2-0504-60) 8 × passive omni-wheels on lower part
CPU:
Arduino Mega 2560
control frequency:
100 Hz
Video
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The SwarmRail-concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, SwarmRail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile SwarmRail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.
SwarmRail unit with light-weight robot as manipulator
