A Novel Holonomic Mobile Manipulator Robot For Construction Sites

Gmerek, A. J.; Plastropoulos, A.; Kimball, M.; Sain, A.; Shah, K.; Wheatley, A.; Collins, P.; Karfakis, P. T.; Liu, J.; Carroll, J.; Virk, G. S.

A Novel Holonomic Mobile Manipulator Robot For Construction Sites

Authors

Editor

Universidad Tecnológica de Panamá

Descripción

This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.