Related Experiment Video
Updated: Nov 24, 2025
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
9.2K
OMNIVIL-An Autonomous Mobile Manipulator for Flexible Production
Heiko Engemann1,2, Shengzhi Du2, Stephan Kallweit1
1IaAM Institute, Faculty of Mechanical Engineering and Mechatronics, University of Applied Sciences Aachen, 52074 Aachen, Germany.
Sensors (Basel, Switzerland)
|December 22, 2020
Summary
This study introduces OMNIVIL, an autonomous mobile manipulator enhancing industrial flexibility. Its novel workspace monitoring system ensures safe human-robot collaboration (HRC) through advanced detection and navigation.
Area of Science:
- Robotics
- Industrial Automation
- Manufacturing Systems
Background:
- Flexible production is crucial for modern manufacturing.
- Autonomous mobile manipulators offer potential for increased flexibility in logistics and handling tasks.
- Challenges include complexity and safety concerns in robotic system implementation.
Purpose of the Study:
- To design and implement the autonomous mobile manipulator OMNIVIL.
- To develop a novel workspace monitoring system (WMS) for safe human-robot collaboration (HRC).
- To enable adaptive manipulation and simplify task-specific platform positioning.
Main Methods:
- Utilized a holonomic kinematic design for high maneuverability.
- Implemented a multilayer sensor setup with robust localization strategies for industrial environments.
- Developed a zone-based navigation concept integrated with the WMS for conflict-free interaction.
Main Results:
- OMNIVIL demonstrates robust performance against industrial uncertainties.
- The WMS provides accurate and reliable detection of humans and objects.
- Predefined preventive behaviors and adaptive manipulation tools facilitate safe and efficient HRC.
Conclusions:
- OMNIVIL enhances industrial flexibility and safety through advanced autonomous capabilities.
- The integrated WMS and navigation system are effective for human-robot collaboration.
- The system simplifies task planning and execution in dynamic manufacturing settings.
Related Concept Videos
01:22Mechanical Systems
414
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
414
01:24One-Degree-of-Freedom System
662
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
662
01:19Electro-mechanical Systems
1.4K
Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
1.4K
01:27Manufacture of Concrete Masonry Units
279
The process of manufacturing concrete masonry units begins by mixing stiff concrete composed of Portland cement, aggregates, and water. This mixture is then poured into metal molds. To ensure the concrete settles uniformly and to avoid separation of its components, the mixture in the molds is subjected to vibration. Shortly after, the still-wet blocks are removed from the molds and placed on racks.
These wet blocks are then transported for curing, which can occur in one of two environments: a...
These wet blocks are then transported for curing, which can occur in one of two environments: a...
279
01:15Torque Free Motion
660
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
660
01:06Virtual Work for a System of Connected Rigid Bodies
579
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
579