TIMAIRIS: Autonomous Blank Feeding for Packaging Machines

Pedrosa, Eurico; Lim, Gi Hyun; Amaral, F.; Pereira, Artur; Cunha, Bernardo; Azevedo, José Luís; Dias, Paulo; Dias, Ricardo; Reis, Luís Paulo; Shafii, Nima; Tudico, Andrea; Mazzotti, Claudio; Carricato, Marco; Badini, Simone; Rea, Dario; Lau, Nuno

doi:10.1007/978-3-030-34507-5_7

Cited by 4 publications

(3 citation statements)

References 18 publications

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“…Moreover, autonomous mobile robots have been introduced to improve flexibility and robustness in modern industrial contexts [8]. Nowadays, the potential collaboration between cobots and mobile platforms has received increasing efforts from industrial and scientific research, particularly for logistic applications [9]. Bonini et al [10] explored the possibility of employing a mobile collaborative system for palletizing operations.…”

Section: Related Workmentioning

confidence: 99%

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

et al. 2021

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This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.

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Section: Related Workmentioning

confidence: 99%

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

et al. 2021

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“…The robot is equipped with a chain-conveyor installed on the robot end-effector, which allows a smooth transportation of products by continuously supporting them from below during the unloading process. Another interesting approach is reported in [23], where a mobile collaborative robot is able to manipulate stacked nonrigid objects. Thanks to a custom gripper, the breakdown of a cardboard pile is prevented by dragging products out of the pallet; subsequently, the robot completes the manipulation by lifting and placing the pile on a mobile base.…”

Section: Introductionmentioning

confidence: 99%

“…The manipulation strategy in [23] still involves a part in which the robotic arm lifts the products and must support their weight, which thus is limited by the robot payload capability. Therefore, we propose a different manipulation approach, based on dragging goods aboard the mobile robotized system.…”

Section: Introductionmentioning

confidence: 99%

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

et al. 2021

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In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic system is specifically designed for depalletizing/palletizing tasks, namely is product extraction from homogeneous pallets and assembly of new heterogeneous pallets. The robotic system is mainly composed by an autonomous vehicle, a collaborative robotic arm and a lifting device, which is able to collect products from different pallet layers. The handling strategy is not based on lifting items, as in classical pick-and-place operations, but on dragging them aboard the mobile vehicle. As the payload weight is not supported by the arm, the overall robotic system is very light compared to the manipulated items, which is a paramount benefit for a mobile collaborative application. This paper presents the mechanical design, the hardware selection and the experimentation in a laboratory scenario, thus demonstrating the effectiveness of the proposed manipulation strategy.

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Exploring Autonomous Load-Carrying Mobile Robots in Indoor Settings: A Comprehensive Review

Yee Leong,

Ahmad

2024

IEEE Access

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TIMAIRIS: Autonomous Blank Feeding for Packaging Machines

Abstract: Current packaging machine vendors do not provide any automated mechanism for blank feeding and the state of the art is to have a human operator dedicated to feed the blank piles to the packaging machine. This is a tedious, repetitive and

Cited by 4 publications

References 18 publications

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

Exploring Autonomous Load-Carrying Mobile Robots in Indoor Settings: A Comprehensive Review

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