A. Gmerek, A. Plastropoulos, M. Kimball, A. Sain, K. Shah, A. Wheatley, P. Collins, P. T. Karfakis, J. Liu, J. Carroll, G. Virk
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A novel holonomic mobile manipulator robot for construction sites
This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.
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