室内宅配ロボットのためのアーム機構の開発

抄録

In recent years, the development of multifunctional mobile platforms has gained momentum with the aim of reducing transportation consumption. In the previous study, a mobile robot named UDOn (Ubiquitous Delivery On-demand robot), with the ability to go up and down stairs, was developed. To further enhance the transportation capacity of the mobile robot, this study developed a robotic arm mechanism for UDOn, allowing it to autonomously grab goods. To achieve the concept of reducing development costs, the robotic arm utilizes only four degrees of freedom and is structured to maximize the use of each degree of freedom for completing the required tasks. The presented method and experimental results in this paper demonstrate the feasibility of such a robotic arm.