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Design of a Compliant Mechanism for Human-Robot Collaborative Transportation with Non-Holonomic Robots
Human-robot collaboration is an attractive option in many industries for transporting long and heavy items with a single operator. In this project, we aim to enable HRC transportation with a non-holonomic robotic base platform by designing a compliant manipulation mechanism, inspired by systems like the Omnid Mocobots.
Keywords: Human-robot collaboration
Collaborative transportation
Non-holonomic robot
Mobile manipulation
To prevent long-term injuries, worker safety regulations limit the weight a human is allowed to carry. For instance, in many countries within the construction sector, workers are permitted to lift at most 25 kg at a time. Consequently, transporting objects exceeding this weight typically requires a second worker or the use of heavy construction equipment. This not only increases labor costs but also introduces logistical challenges.
Human-robot collaboration offers a promising solution by enabling a single operator to handle heavy and bulky items safely and efficiently. The Omnid Mocobots [1] have demonstrated success in this area by employing compliant manipulators with accurate force control on omnidirectional mobile bases. This setup allows operators to maneuver heavy objects effortlessly and serves as an inspiration for our project.
Building upon this concept, the goal of this project is to design and integrate a compliant manipulation mechanism onto "Smally", a skid-steer wheeled-legged mobile robot developed by Hilti. The manipulator will enable gravity compensation and smooth motion while handling heavy payloads. The project includes evaluating system requirements, mechanical design, fabrication, and validation through control algorithm development. The successful implementation aims to enhance worker safety, reduce labor costs, and increase efficiency in environments where full robot autonomy is challenging.
To prevent long-term injuries, worker safety regulations limit the weight a human is allowed to carry. For instance, in many countries within the construction sector, workers are permitted to lift at most 25 kg at a time. Consequently, transporting objects exceeding this weight typically requires a second worker or the use of heavy construction equipment. This not only increases labor costs but also introduces logistical challenges. Human-robot collaboration offers a promising solution by enabling a single operator to handle heavy and bulky items safely and efficiently. The Omnid Mocobots [1] have demonstrated success in this area by employing compliant manipulators with accurate force control on omnidirectional mobile bases. This setup allows operators to maneuver heavy objects effortlessly and serves as an inspiration for our project. Building upon this concept, the goal of this project is to design and integrate a compliant manipulation mechanism onto "Smally", a skid-steer wheeled-legged mobile robot developed by Hilti. The manipulator will enable gravity compensation and smooth motion while handling heavy payloads. The project includes evaluating system requirements, mechanical design, fabrication, and validation through control algorithm development. The successful implementation aims to enhance worker safety, reduce labor costs, and increase efficiency in environments where full robot autonomy is challenging.
- Literature research
- Parallel manipulator mechanical design
- System integration on Smally
- Literature research - Parallel manipulator mechanical design - System integration on Smally
- Mechatronics and system integration experience
- Understanding of parallel mechanisms
- Knowledge of C/C++
- Mechatronics and system integration experience - Understanding of parallel mechanisms - Knowledge of C/C++
Please send your application with your CV and transcript to the following emails:
- Francesca Bray: frbray@ethz.ch
- Julien Kindle: jkindle@ethz.ch
Please send your application with your CV and transcript to the following emails: