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SwarmRail



SwarmRail

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

System description

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.

 


Contact
Dr.-Ing. Martin Görner
German Aerospace Center

Institute of Robotics and Mechatronics
, Analysis and Control of advanced robotic systems
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1089

Fax: +49 8153 28-1134

Dr.-Ing. Thomas Hulin
German Aerospace Center

Institute of Robotics and Mechatronics
, Analysis and Control of advanced robotic systems
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1306

Fax: +49 8153 28-1134

Dr.-Ing. Roman Weitschat
German Aerospace Center

Institute of Robotics and Mechatronics
, Cognitive Robotics
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1096

Fax: +49 8153 28-1134

Videos and Media
SwarmRail on youtube
IEEE Spectrum - Video Friday
heise.de: ICRA: Modulare Roboter an Decken-Schienen sorgen für mehr Flexibilität
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