Autonomous Industrial Mobile Manipulation (AIMM) - maturation, exploitation and implementation: Developing modular and (re)configurable AIMM families based on architectures

Mads Hvilshøj

Publikation: Bog/antologi/afhandling/rapportPh.d.-afhandlingForskning


This thesis introduces the Autonomous Industrial Mobile Manipulator ”Little Helper”, a robotic co-worker which extends the potential of industrial robotics by combining locomotion and manipulation capabilities. The thesis presents promising findings for industrial maturation, exploitation and implementation of AIMM.
The first part concerns the missing links and gaps for bringing AIMM from research to industry. A general AIMM manufacturing concept has been formulated, AIMM prototypes have been developed and laboratory experiments have been conducted. From this, we have joined forces with Grundfos A/S, where full-scale industrial AIMM demonstrations in terms of automatic multiple part feeding have been successfully realized.
The second part concerns the development of modular and (re)configurable AIMM systems. At present, it is technically and/or economically unfeasible to create a hyper flexible AIMM system, and it is unacceptable to have a dedicated AIMM system for each task. By utilizing modules, it is possible to (re)configure the system to a specific set of manufacturing needs. To realize this, the AIMM technology has been treated as a Mass Customization product. From this, industrially suited, modular and (re)configurable AIMM families have been developed, which can be tailored for specific needs in an economical, reliable and simple manner.
ForlagDepartment of Mechanical and Manufacturing Engineering, Aalborg University
Antal sider269
ISBN (Trykt)87-91464-37-4
StatusUdgivet - jun. 2012