The challenges of integrating an industrial robot on a mobile platform

Abstract

This paper provides a description of a uniquely mounted industrial robot. The described configuration includes an IRB6620 industrial robot with a tool changer and multiple tools that are installed on a highly customized truck chassis. Industrial robots are typically anchored to a shop floor which would normally limit the operational range of industrial robotics and require that all parts and materials be delivered to the robot. While this is normal and practical in instances where systems are structured to handle high volume part demand, it inherently limits the rapid mobility of a system. Such mobility would also be limited by the typical supply requirements of industrial equipment, such as process data communication, power, fluids, and compressed air or other gasses. However, new market requests have emerged for industrial robotics that prompted this particular in-house development of a mobile and uniquely self sufficient robotic arm platform. This wheeled vehicular platform is able to travel any reasonably navigable terrain, including off road, and is reliant solely on its own generated power or otherwise carried supplies. This paper presents the prototype development of such a platform that is self sufficient for electrical power, as well as compressed air from on board sources. This installation has been successfully developed to carry out various demonstration tasks by use of interchangeable tooling. This solution provides a mobile platform for an industrial robot which could be used in any location as long it is accessible to the mobile platform.