Design and Development of a Mobile Robot for Material Handling

B. Bharat; B. S. Kiran; D. Bandopadhya

doi:10.37591/joarb.v2i2.438

Abstract

A semi-autonomous mobile robot has been designed and developed for regular shaped material handling application. The robot has in-built platform with three revolute joint arms supported by wheeled locomotion. Acrylic polymer sheets are used and three wheeler mobile platforms with various linkages have been fabricated and assembled. Forward kinematic model has been derived after constituting the D-H parameters of the manipulator, and the end-effector position is shown in the work envelope for a particular configuration. Servo motors along with the micro-controller were integrated with the hardware setup that controls the motion of the robot on the shop floor. A hand held instructing unit is used and the robotic system was tested for material handling with displayed features such as “search and locate” operation of objects. The mobile robotic manipulator developed is very cost effective and suitable for academic study as well.Keywords: Autonomous, Mobile-Robot, Forward-Kinematics, Servo-Mechanism, Work- Envelope Cite this ArticleBharat B, Kiran BS, Bandopadhya D. Design and Development of a Mobile Robot for Material Handling, Journal of Advancements in Robotics. 2015; 2(2): 1–14p.