Industrial Robot-The International Journal of Robotics Research and Application最新文献

{"title":"The implementation and performance evaluation for a smart robot with edge computing algorithms","authors":"J. Chen, Ping-Feng Huang, Chung-Sheng Pi","doi":"10.1108/ir-02-2022-0045","DOIUrl":"https://doi.org/10.1108/ir-02-2022-0045","url":null,"abstract":"\u0000Purpose\u0000Apart from, the smart edge computing (EC) robot (SECR) provides the tools to manage Internet of things (IoT) services in the edge landscape by means of real-world test-bed designed in ECR. Eventually, based on the results from two experiments held in little constrained condition, such as the maximum data size is 2GB, the performance of the proposed techniques demonstrate the effectiveness, scalability and performance efficiency of the proposed IoT model.\u0000\u0000\u0000Design/methodology/approach\u0000Certainly, the proposed SECR is trying primarily to take over other traditional static robots in a centralized or distributed cloud environment. One aspect of representation of the proposed edge computing algorithms is due to challenge to slow down the consumption of time which happened in an artificial intelligence (AI) robot system. Thus, the developed SECR trained by tiny machine learning (TinyML) techniques to develop a decentralized and dynamic software environment.\u0000\u0000\u0000Findings\u0000Specifically, the waste time of SECR has actually slowed down when it is embedded with Edge Computing devices in the demonstration of data transmission within different paths. The TinyML is applied to train with image data sets for generating a framework running in the SECR for the recognition which has also proved with a second complete experiment.\u0000\u0000\u0000Originality/value\u0000The work presented in this paper is the first research effort, and which is focusing on resource allocation and dynamic path selection for edge computing. The developed platform using a decoupled resource management model that manages the allocation of micro node resources independent of the service provisioning performed at the cloud and manager nodes. Besides, the algorithm of the edge computing management is established with different path and pass large data to cloud and receive it. In this work which considered the SECR framework is able to perform the same function as that supports to the multi-dimensional scaling (MDS).\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"112 1","pages":"581-594"},"PeriodicalIF":1.8,"publicationDate":"2022-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85872187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A novel soft gripper with enhanced gripping adaptability based on spring-reinforced soft pneumatic actuators","authors":"Peilin Cheng, Yuze Ye, B. Yan, Yebo Lu, Chuanyu Wu","doi":"10.1108/ir-04-2022-0103","DOIUrl":"https://doi.org/10.1108/ir-04-2022-0103","url":null,"abstract":"\u0000Purpose\u0000Soft grippers have safer and more adaptable human–machine and environment–machine interactions than rigid grippers. However, most soft grippers with single gripping postures have a limited gripping range. Therefore, this paper aims to design a soft gripper with variable gripping posture to enhance the gripping adaptability.\u0000\u0000\u0000Design/methodology/approach\u0000This paper proposes a novel soft gripper consisting of a conversion mechanism and four spring-reinforced soft pneumatic actuators (SSPAs) as soft fingers. By adjusting the conversion mechanism, four gripping postures can be achieved to grip objects of different shapes, sizes and weights. Furthermore, a quasi-static model is established to predict the bending deformation of the finger. Finally, the bending angle of the finger is measured to validate the accuracy of the quasi-static model. The gripping force and gripping adaptability are tested to explore the gripping performance of the gripper.\u0000\u0000\u0000Findings\u0000Through experiments, the results have shown that the quasi-static model can accurately predict the deformation of the finger; the gripper has the most significant gripping force under the parallel posture, and the gripping adaptability of the gripper is highly enhanced by converting the four gripping postures.\u0000\u0000\u0000Originality/value\u0000By increasing the gripping posture, a novel soft gripper with enhanced gripping adaptability is proposed to enlarge the gripping range of the soft gripper with a single posture. Furthermore, a quasi-static model is established to analyze the deformation of SSPA.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"34 1","pages":"595-608"},"PeriodicalIF":1.8,"publicationDate":"2022-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81522862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A hybrid obstacle avoidance method for mobile robot navigation in unstructured environment","authors":"Huaidong Zhou, Pengbo Feng, Wusheng Chou","doi":"10.1108/ir-04-2022-0102","DOIUrl":"https://doi.org/10.1108/ir-04-2022-0102","url":null,"abstract":"\u0000Purpose\u0000Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious challenge for WMR. This paper aims to present a hybrid obstacle avoidance method that combines an informed-rapidly exploring random tree* algorithm with a three-dimensional (3D)-object detection approach and model prediction controller (MPC) to conduct obstacle perception, collision-free path planning and obstacle avoidance for WMR in unstructured environments.\u0000\u0000\u0000Design/methodology/approach\u0000Given a reference orientation and speed, the hybrid method uses parametric ellipses to represent obstacle expansion boundaries based on the 3D target detection results, and a collision-free reference path is planned. Then, the authors build on a model predictive control for tracking the collision-free reference path by incorporating the distance between the robot and obstacles. The proposed framework is a mapless method for WMR.\u0000\u0000\u0000Findings\u0000The authors present experimental results with a mobile robot for obstacle avoidance in indoor environments crowded with obstacles, such as chairs and pedestrians. The results show that the proposed hybrid obstacle avoidance method can satisfy the application requirements of mobile robots in unstructured environments.\u0000\u0000\u0000Originality/value\u0000In this study, the parameter ellipse is used to represent the area occupied by the obstacle, which takes the velocity as the parameter. Therefore, the motion direction and position of dynamic obstacles can be considered in the planning stage, which enhances the success rate of obstacle avoidance. In addition, the distance between the obstacle and robot is increased in the MPC optimization function to ensure a safe distance between the robot and the obstacle.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"1 1","pages":"94-106"},"PeriodicalIF":1.8,"publicationDate":"2022-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90355686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An intelligent fast controller for autonomous wheeled robot path navigation in challenging environments","authors":"Subhradip Mukherjee, R. Kumar, Siddhanta Borah","doi":"10.1108/ir-01-2022-0026","DOIUrl":"https://doi.org/10.1108/ir-01-2022-0026","url":null,"abstract":"\u0000Purpose\u0000This paper aims to incorporate one intelligent particle swarm optimization (IPSO) controller to realize an optimum path in unknown environments. In this paper, the fitness function of IPSO is designed with intelligent design parameters, solving the path navigation problem of an autonomous wheeled robot towards the target point by avoiding obstacles in any unknown environment.\u0000\u0000\u0000Design/methodology/approach\u0000This controller depends on randomly oriented positions with all other position information and a fitness function. Evaluating the position’s best values, this study gets the local best values, and finally, the global best value is updated as the current value after comparing the local best values.\u0000\u0000\u0000Findings\u0000The path navigation of the proposed controller has been compared with particle swarm optimization algorithm, BAT algorithm, flower pollination algorithm, invasive weed algorithm and genetic algorithm in multiple challenging environments. The proposed controller shows the percent deviation in path length near 14.54% and the percent deviation in travel time near 4% after the simulation. IPSO is applied to optimize said parameters for path navigation of the wheeled robot in different simulation environments.\u0000\u0000\u0000Originality/value\u0000A hardware model with a 32-bit ARM board interfaced with a global positioning system (GPS) module, an ultrasonic module and ZigBee wireless communication module is designed to implement IPSO. In real-time, the IPSO controller shows the percent deviation in path length near 9%.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"45 1","pages":"107-121"},"PeriodicalIF":1.8,"publicationDate":"2022-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75320663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimization of mechanical performance of a Bernoulli gripper based on the force characteristic curve synthesis method","authors":"Xubo Yu, Jianghong Zhao, Xin Li","doi":"10.1108/ir-01-2022-0010","DOIUrl":"https://doi.org/10.1108/ir-01-2022-0010","url":null,"abstract":"\u0000Purpose\u0000The Bernoulli gripper fixedly installed on the manipulator is subject to limitations such as a small-working region and poor anti-interference capacity. This paper aims to propose a novel Bernoulli gripper design that involves the connection of a positive stiffness component such as a spring in series, based on the force characteristic curve synthesis method, to optimize the mechanical performance.\u0000\u0000\u0000Design/methodology/approach\u0000The proposed gripper is designed and manufactured. In the suction procedure, the force characteristic curve of the proposed gripper is theoretically and experimentally investigated. In the hovering detection procedure, a dynamic model of the manipulator-gripper-workpiece system is established, and an apparatus is set up to compare the displacements of the workpiece and the manipulator. The proposed gripper is finally applied in the lifting procedure, showing good impact resistance.\u0000\u0000\u0000Findings\u0000The optimization of mechanical performance of the proposed gripper is realized. The proposed gripper has the effect of increasing the stiffness of the negative stiffness part of the force characteristic curve and reducing the stiffness of the positive stiffness part, increasing the working region. The stability and the anti-interference ability of the workpiece under high-frequency vibration are improved. Meanwhile, the impact resistance in the lifting procedure is enhanced, compared with the original one.\u0000\u0000\u0000Originality/value\u0000This research proposes a novel design for the Bernoulli grippers to optimize the mechanical performance. The proposed gripper has advantages of a larger working region, better anti-interference ability and better impact resistance. These findings serve as important theoretical and experimental references for the design of the Bernoulli gripper.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"27 1","pages":"1169-1177"},"PeriodicalIF":1.8,"publicationDate":"2022-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74228070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Spatial positioning robotic system for autonomous inspection of LPG tanks","authors":"Jie Li, Jiyuan Wu, Chunlei Tu, Xingsong Wang","doi":"10.1108/ir-03-2022-0076","DOIUrl":"https://doi.org/10.1108/ir-03-2022-0076","url":null,"abstract":"\u0000Purpose\u0000Automatic robots can improve the efficiency of liquefied petroleum gas (LPG) tank inspection and maintenance, but it is difficult to achieve high-precision spatial positioning and navigation on tank surfaces. The purpose of this paper is to develop a spatial positioning robotic system for tank inspection. The robot can accurately identify and track weld paths. The positioning system can complete robot’s spatial positioning on tank surfaces.\u0000\u0000\u0000Design/methodology/approach\u0000A tank inspection robot with curvature-adaptive transmission mechanisms is designed in this study. A weld path recognition method based on deep learning is proposed to accurately identify and extract weld paths. Integrated multiple sensors, the positioning system is developed to improve the robot’s spatial positioning accuracy. Experiments are conducted on a cylindrical tank to test weld seam tracking accuracy and spatial positioning performance of the robotic system. The practicality of the robotic system is then verified in field tests.\u0000\u0000\u0000Findings\u0000The robot can accurately identify and track weld seams with a maximum drift angle of 4° and a maximum offset distance of ±30 mm. The positioning system has excellent positioning accuracy and stability. The maximum angle and height errors are 3° and 0.08 m, respectively.\u0000\u0000\u0000Originality/value\u0000The positioning system can improve the autonomous performance of inspection robots and solve the problems of weld path recognition and spatial positioning. Application of the robotic system can promote the automatic inspection and maintenance of LPG tanks.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"22 1","pages":"70-83"},"PeriodicalIF":1.8,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74170176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The Pransky interview: Harry Kloor, PhD, PhD - CEO and Co-Founder, Beyond Imagination Inc.; scientist; entrepreneur; inventor; filmmaker","authors":"Joanne Pransky","doi":"10.1108/ir-06-2022-0148","DOIUrl":"https://doi.org/10.1108/ir-06-2022-0148","url":null,"abstract":"\u0000Purpose\u0000The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned successful innovator and entrepreneur regarding turning his lifelong dream into an invention and commercialized product. This paper aims to discuss these issues.\u0000\u0000\u0000Design/methodology/approach\u0000Harry Kloor is a successful serial entrepreneur, scientist, technologist, educator, policy advisor, author and Hollywood filmmaker. He is the CEO and co-founder of Beyond Imagination, a company that has developed a suite of exponential technology solutions that deploys artificial intelligence (AI), AR, robotics, machine learning and human–computer interaction technology to enhance and revolutionize the world’s workforce. The company early in 2021 completed BEOMNI 1.0, the world’s first fully functional humanoid robotic system with an AI evolving brain, enabling remote work at a high level of fidelity to be done from around the globe. Kloor describes how he transformed his childhood dream into his brainchild and tangible reality.\u0000\u0000\u0000Findings\u0000Kloor was born a groundbreaker who did not take no for an answer. He was born partially crippled with his legs facing backwards. The doctors said that he would spend his life in braces and would never be able to run. His parents told him not to let those ideas limit him and by the age of seven he ran for the first time and went on to become a martial arts master. Kloor’s childhood dream was to create ways to leave his body and inhabit a robotic body so that he could physically be free from his limited mobility. Kloor built his first computer at the age of seven and invented his first product at the age of eight. Kloor's inspiration to study science came largely from science fiction and his 20,000-plus collection of comic books. Knowing the nature of exponential growth, he spent the next 40 years building the expertise, relationships, networks and experience in all areas of exponential technology. Kloor obtained a BA from Southern Oregon State College, an MEd from Southern Oregon University and two simultaneous PhDs, one in chemistry and one in physics, from Purdue University. Kloor co-founded the company Universal Consultants, where he served as chief science consultant, providing guidance to clients in the development of new technological products, patents and policy positions. Kloor was the founder of Stem CC Inc. – a stem cell company that was sold in 2018 to Celularity, one of the world’s most cutting edge clinical-stage cell therapeutics company. Kloor is also the founder and president of Jupiter 9 Productions and is a credited film writer, director and producer. Since his graduation from Purdue University, he has written for Star Trek: Voyager and was the story editor for Gene Roddenberry’s Earth: Final Conflict, a series he co-created/developed. Kloor helped create Taiwan’s animation i","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"44 1","pages":"819-823"},"PeriodicalIF":1.8,"publicationDate":"2022-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81794869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An efficient approach for the elevator button manipulation using the visual-based self-driving mobile manipulator","authors":"Toan Van Nguyen, Jin-Hyeon Jeong, Jae-Yun Jo","doi":"10.1108/ir-03-2022-0063","DOIUrl":"https://doi.org/10.1108/ir-03-2022-0063","url":null,"abstract":"\u0000Purpose\u0000Because mobile manipulators are unable to climb stairs, the elevator operation is a crucial capacity to help those kinds of robot systems work in modern multifloor buildings. Here, the elevator button manipulation is considered as an efficient approach to fulfill that requirement. Previously, some studies presented elevator button recognition algorithms while some others designed schemes for the button manipulation work. However, the mobile robot, the manipulator and the camera in their robot systems are asynchronous. Besides, the time-consuming calibration for the camera is inevitable, especially in changeable environments. This paper aims to present an alternative method for the elevator button manipulation to overcome mentioned shortcomings.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, the elevator button manipulation is conducted by using the visual-based self-driving mobile manipulator in which the autonomous mobile robot, the manipulator and the camera cooperate more efficiently. Namely, the mobile robot does not need to be located exactly in front of the elevator panel as the manipulator has the ability to adjust the initial frame of the camera based on the system kinematic synchronization. In addition, the proposed method does not require the real world coordinates of elevator buttons, but uniquely using their pixel positions. By doing this, not only is the projection from two-dimensional pixel coordinates to three-dimensional (3D) real world coordinates unnecessary, but also the calibration of the camera is not required.\u0000\u0000\u0000Findings\u0000The proposed method is experimentally verified by using a visual-based self-driving mobile manipulator. This robotic system is the integration of an autonomous mobile robot, a manipulator and a camera mounted on the end-effector of the manipulator.\u0000\u0000\u0000Research limitations/implications\u0000Because the surface of the elevator button panel is usually mirror-like, the elevator button detection is easily affected by the glare and the brightness of the environmental light condition.\u0000\u0000\u0000Practical implications\u0000This robot system can be used for the goods delivery or the patrol in modern multifloor buildings.\u0000\u0000\u0000Originality/value\u0000This paper includes three new features: simultaneously detecting and manipulating elevator buttons without the projection from pixel coordinates to 3D real world coordinates, a kinematic synchronization to help the robot system eliminate accumulated errors and a safe human-like elevator button manipulation.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"98 1","pages":"84-93"},"PeriodicalIF":1.8,"publicationDate":"2022-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74993161","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy","authors":"Renluan Hou, Jianwei Niu, Yuliang Guo, Tao Ren, Bing Han, Xiaolong Yu, Qun Ma, J. Wang, Renjie Qi","doi":"10.1108/ir-12-2021-0301","DOIUrl":"https://doi.org/10.1108/ir-12-2021-0301","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed.\u0000\u0000\u0000Design/methodology/approach\u0000This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge–Kutta discrete method to reduce the solving complexity.\u0000\u0000\u0000Findings\u0000Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory.\u0000\u0000\u0000Originality/value\u0000A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"7 1","pages":"1156-1168"},"PeriodicalIF":1.8,"publicationDate":"2022-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83821727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and performance analysis of an adaptive omnidirectional wheel for heavy payload robot","authors":"Changlong Ye, Yunfei Du, Suyang Yu, Qiang Zhao, Chun-ying Jiang","doi":"10.1108/ir-01-2022-0024","DOIUrl":"https://doi.org/10.1108/ir-01-2022-0024","url":null,"abstract":"\u0000Purpose\u0000With the development of automation technology, the accuracy, bearing capacity and self-adaptation requirements of wheeled mobile robots are more and more demanding under various complex conditions, which will urge designers such shortcomings as the low accuracy, poor flexibility and weak obstacle crossing ability of traditional heavy haul vehicles and improve the wear resistance and bearing capacity of traditional omnidirectional wheels.\u0000\u0000\u0000Design/methodology/approach\u0000The optimal configuration for heavy payload transportation is obtained by building sliding friction consumption model of traditional wheels with different driving types based on Hertz tangential contact theory. The heavy payload omnidirectional wheel with a double-wheel steering and a coupled differential wheel driving is designed with the optimal configuration. The wheel consists of a differential gear train unit and a nonindependent suspension unit. Kinematics model of the wheel is established and relative parameters are optimized.\u0000\u0000\u0000Findings\u0000The prototype experiments show that the wheel has higher motion accuracy and environment adaptability. The results are consistent with the theoretical calculation, which show that the accuracy is more than 50% higher than that of differential prototype. The motion stability and the accuracy of the coupled differential omnidirectional wheel are better than those of the traditional omnidirectional wheels during the moving and obstacle crossing process under complex conditions, which verifies the correctness and advantages of the design.\u0000\u0000\u0000Originality/value\u0000Aiming at the specific application of heavy payload omnidirectional transportation, a new omnidirectional mobile mechanism with a two-wheel coupling drive structure and an adaptive mechanism is proposed. The simulation and experimental results show that it can realize the high-precision heavy-load omnidirectional movement, the effective contact with the ground and improve the adaptability to the rugged ground. It is flexible, simple and modular and can be widely applied to transportation, exploration, detection and other related industrial fields.\u0000","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":"3 12 1","pages":"1144-1155"},"PeriodicalIF":1.8,"publicationDate":"2022-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82071441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}