Hettiarachchi, R., Haidong, X., Zhen, L. L., Meera, C. S., & Vyas, P. (2023, October 16). Mobile Manipulator for Container Loading and Unloading: A Proof-of-Concept Study. IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society. https://doi.org/10.1109/iecon51785.2023.10311965
Abstract:
The manual loading and unloading of carton boxes
from truck containers is a crucial operation in warehouse logistics
that puts worker health at risk and takes a lot of time. In this
paper, a robotic system for automatically loading and unloading
carton boxes of various sizes and weights from containers is
proposed. The proposed solution involves a mobile manipulator
with an end-effector integrated together with other essential
components. Static and dynamic stability analyses backed with
simulations are used to evaluate the system’s stability and
reachability. In addition, a software framework is created that
can accommodate different box sizes and weights. The proof-ofconcept
prototype demonstrates 450 boxes per hour for loading
and 400 boxes per hour for unloading respectively. With the
objective to reduce the challenges of manually loading and
unloading carton boxes from containers, this paper offers a
promising solution.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the A*STAR - Supply Chain (SC) 4.0 - Digital Supply Chain Development via Platform Technologies
Grant Reference no. : M21J6a0080