SCALA—A Scalable Rail-based Multirobot System for Large Space Automation: Design and Development

Carlos Viegas; Mahmoud Tavakoli; Pedro Lopes; Ricardo Dessi; Aníbal T. de Almeida

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SCALA—A Scalable Rail-based Multirobot System for Large Space Automation: Design and Development

机译：SCALA —用于大型空间自动化的可扩展的基于轨道的多机器人系统：设计和开发

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摘要

In this paper, a prototype of the SCAlable ModuLar (SCALA) multiagent robotic system is developed and implemented. This system for automation in large spaces relies on mobile agents that move on a planar and modular mesh of rails with embedded accurate positioning sensors. Groups of three mobile agents are joined together to drive a parallel manipulator, thus allowing fine manipulation tasks to be performed on a large workspace. The mechanical, mechatronics, and control solutions adopted on the prototype are reported and discussed, as well as its performance on the several tests performed.

机译：本文开发并实现了SCAlable ModuLar（SCALA）多主体机器人系统的原型。这种用于大空间自动化的系统依赖于移动代理，这些代理在带有嵌入式精确定位传感器的平面模块化轨道上移动。三个移动代理程序的组连接在一起以驱动并行操纵器，从而允许在较大的工作空间中执行精细的操纵任务。报告并讨论了原型所采用的机械，机电一体化和控制解决方案，以及在进行的几次测试中的性能。

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来源
《IEEE / ASME Transactions on Mechatronics》 |2017年第5期|2208-2217|共10页
作者
Carlos Viegas; Mahmoud Tavakoli; Pedro Lopes; Ricardo Dessi; Aníbal T. de Almeida;
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作者单位

Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal;

Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal;

Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal;

Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal;

Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal;

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原文格式 PDF
正文语种 eng
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关键词
Rails; Junctions; Mobile agents; Robots; Gears; Automation; Mechatronics;

机译：铁路;交界处;移动代理;机器人;齿轮;自动化;机电一体化;

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专利

1. SCALA: Scalable Modular Rail based Multi-agent Robotic System for Fine Manipulation over Large Workspaces [J] . Tavakoli Mahmoud, Viegas Carlos, Sgrigna Lucio, Journal of Intelligent & Robotic Systems: Theory & Application . 2018,第3a4期

机译：Scala：可伸缩模块化轨道基于轨道机器人机器人系统，用于在大工作区上进行微调
2. RISE of the DeltaBot: Beckhoff Automation helps AEMK Systems reboot high-performance robot designed for cost- and space-sensitive applications [J] . Michael McLeod Design Engineering . 2009,第4期

机译：DeltaBot的崛起：Beckhoff Automation帮助AEMK Systems重新启动针对成本和空间敏感应用而设计的高性能机器人
3. Generative BUM workspace for AEC conceptual design automation: prototype development [J] . Abrishami Sepehr, Goulding Jack, Rahimian Farzad Engineering construction and architectural management . 2021,第2期

机译：AEC概念设计自动化的生成BUM工作空间：原型开发
4. Space Launch System Base Heating Test: Sub-Scale Rocket Engine/Motor Design, Development and Performance Analysis [C] . Manish Mehta, C. Mark Seaford, Brian C. Kovarik, AIAA SciTech forum;Aerospace sciences meeting . 2014

机译：太空发射系统基础加热测试：小型火箭发动机/电动机的设计，开发和性能分析
5. Space Access Systems Design: Synthesis Methodology Development for Conceptual Design of Future Space Access Systems [D] . Rana, Loveneesh. 2017

机译：空间访问系统设计：未来空间访问系统概念设计的综合方法学开发
6. Development of a Scalable Monitoring System for Wheelchair Tilt-in-Space Usage [O] . Tim D. Yang, Seth A. Hutchinson, Laura A. Rice, -1

机译：轮椅倾斜使用可扩展监控系统的开发
7. Design and Development of a Cognitive Computing empowered Robot Assistant for Semantic Task Automation in Smart Spaces [O] . Sánchez Tolbaños Enrique 2017

机译：用于智能空间中的语义任务自动化的具有认知计算能力的机器人助手的设计和开发

SCALA—A Scalable Rail-based Multirobot System for Large Space Automation: Design and Development

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