TY - CHAP
T1 - FASTKIT
T2 - A Mobile Cable-Driven Parallel Robot for Logistics
AU - Pedemonte, Nicolò
AU - Rasheed, Tahir
AU - Marquez-Gamez, David
AU - Long, Philip
AU - Hocquard, Étienne
AU - Babin, Francois
AU - Fouché, Charlotte
AU - Caverot, Guy
AU - Girin, Alexis
AU - Caro, Stéphane
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.
AB - The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.
UR - http://www.scopus.com/inward/record.url?scp=85087546486&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-22327-4_8
DO - 10.1007/978-3-030-22327-4_8
M3 - Chapter
AN - SCOPUS:85087546486
T3 - Springer Tracts in Advanced Robotics
SP - 141
EP - 163
BT - Springer Tracts in Advanced Robotics
PB - Springer
ER -