A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot

Parcel transportation is a task that is expected to be highly automated with the development of application-specific mobile robots. This paper presents the design and implementation of a parcel transportation and delivery mechanism aimed at converting a general-purpose indoor omnidirectional robot i...

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Detalles Bibliográficos
Autores: Rubies, Elena, Bitriá Ribes, Ricard, Palacín Roca, Jordi
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Institución:Universitat de Lleida (UdL)
Repositorio:Repositori Obert UdL
OAI Identifier:oai:repositori.udl.cat:10459.1/466472
Acceso en línea:https://doi.org/10.3390/app14177987
https://hdl.handle.net/10459.1/466472
Access Level:acceso abierto
Palabra clave:Delivery robot
Mobile robot
Omnidirectional motion
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spelling A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional RobotRubies, ElenaBitriá Ribes, RicardPalacín Roca, JordiDelivery robotMobile robotOmnidirectional motionParcel transportation is a task that is expected to be highly automated with the development of application-specific mobile robots. This paper presents the design and implementation of a parcel transportation and delivery mechanism aimed at converting a general-purpose indoor omnidirectional robot into an indoor delivery robot. The design of this new mechanism has considered the best placement in the robot and the limitation of not exceeding the original robot diameter. The mechanism consists of a basket with a lid that allows for the manual loading and automatic unloading of parcels. Despite the space limitations imposed by the general-purpose robot design, the designed mechanism can transport up to 90% of the packages received in an educational building. The mechanism was empirically validated by conducting 125 static manual loading experiments, 150 static unloading experiments, and 50 complete parcel delivery experiments. Results show that the delivery robot can efficiently deliver 78% of the total packages received in the building: envelopes, very small parcels, and small parcels. In the case of medium parcels, the delivery was unsuccessful in 30% of cases, in which the parcel did not properly slide out of the basket.This research was funded by Departament de Recerca i Universitats de la Generalitat de Catalunya: AGAUR FI SDUR 2022, and Ministerio de Ciencia, Innovación y Universidades: FPU 2022/00526.MDPI2024info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttps://doi.org/10.3390/app14177987https://hdl.handle.net/10459.1/466472reponame:Repositori Obert UdL instname:Universitat de Lleida (UdL)InglésReproducció del document publicat a https://doi.org/10.3390/app14177987Applied Sciences, 2024, vol. 14, núm. 17, 7987cc-by (c) Elena Rubies, Ricard Bitriá, Jordi Palacín, 2024Attribution 4.0 Internationalinfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/oai:repositori.udl.cat:10459.1/4664722026-06-24T12:42:17Z
dc.title.none.fl_str_mv A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
title A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
spellingShingle A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
Rubies, Elena
Delivery robot
Mobile robot
Omnidirectional motion
title_short A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
title_full A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
title_fullStr A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
title_full_unstemmed A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
title_sort A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot
dc.creator.none.fl_str_mv Rubies, Elena
Bitriá Ribes, Ricard
Palacín Roca, Jordi
author Rubies, Elena
author_facet Rubies, Elena
Bitriá Ribes, Ricard
Palacín Roca, Jordi
author_role author
author2 Bitriá Ribes, Ricard
Palacín Roca, Jordi
author2_role author
author
dc.subject.none.fl_str_mv Delivery robot
Mobile robot
Omnidirectional motion
topic Delivery robot
Mobile robot
Omnidirectional motion
description Parcel transportation is a task that is expected to be highly automated with the development of application-specific mobile robots. This paper presents the design and implementation of a parcel transportation and delivery mechanism aimed at converting a general-purpose indoor omnidirectional robot into an indoor delivery robot. The design of this new mechanism has considered the best placement in the robot and the limitation of not exceeding the original robot diameter. The mechanism consists of a basket with a lid that allows for the manual loading and automatic unloading of parcels. Despite the space limitations imposed by the general-purpose robot design, the designed mechanism can transport up to 90% of the packages received in an educational building. The mechanism was empirically validated by conducting 125 static manual loading experiments, 150 static unloading experiments, and 50 complete parcel delivery experiments. Results show that the delivery robot can efficiently deliver 78% of the total packages received in the building: envelopes, very small parcels, and small parcels. In the case of medium parcels, the delivery was unsuccessful in 30% of cases, in which the parcel did not properly slide out of the basket.
publishDate 2024
dc.date.none.fl_str_mv 2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://doi.org/10.3390/app14177987
https://hdl.handle.net/10459.1/466472
url https://doi.org/10.3390/app14177987
https://hdl.handle.net/10459.1/466472
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Reproducció del document publicat a https://doi.org/10.3390/app14177987
Applied Sciences, 2024, vol. 14, núm. 17, 7987
dc.rights.none.fl_str_mv cc-by (c) Elena Rubies, Ricard Bitriá, Jordi Palacín, 2024
Attribution 4.0 International
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/
rights_invalid_str_mv cc-by (c) Elena Rubies, Ricard Bitriá, Jordi Palacín, 2024
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Repositori Obert UdL
instname:Universitat de Lleida (UdL)
instname_str Universitat de Lleida (UdL)
reponame_str Repositori Obert UdL
collection Repositori Obert UdL
repository.name.fl_str_mv
repository.mail.fl_str_mv
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