A Mobile Manipulator for Logistic Applications

To achieve optimal efficiency and increased productivity, the utilization of intelligent automated machines has become crucial in performing various operations and tasks. This research paper explores the fundamental differences between traditional automation and autonomous robotic assembly, focusing on the approaches employed in locating, acquiring, manipulating, aligning, and assembling parts. Recent advancements in processing power and sensor capabilities have opened up new opportunities for achieving autonomy and flexibility at affordable costs. Autonomous robotic manipulators offer a high degree of flexibility and capability to handle system uncertainties, unknowns, and exceptions. Furthermore, mobile manipulation, which involves coordinated motion of the robot's base and joints, enables precise control over the arm's motion. This paper describes the kinematic analysis using RoboAnalyzer, to examine the behavior of robotic arm Denavit-Hartenberg parameters are used for forward kinematics to calculate final transformation matrix of end effector which shows the position of gripper, also the torque calculation has done in fully extended arm position, so that the maximum torque applied on each servo joint can be calculated. CAD model and assembly for 6 DOF robotic arm was carried out in Solidworks.