بحث بعنوان Prototype Trailer-Loading Robot

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Prototype Trailer-Loading Robot
John J. Ottersbach and Robert L. Williams II

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Abstract
The Pallet Handling Device (PHD) is a five degree-offreedom (dof) robot system under development by Stewart-Glapat Corporation for autonomous loading of pallets into semi-truck trailers at loading docks. The fullyautonomous control is achieved using a programmable logic controller (PLC) and sensors. Ohio University has developed a one-eighth-scale prototype hardware system for PHD controls implementation and evaluation. This article describes the design and construction of this system, including the control architecture and PLC programming. The main objective of the scale hardware prototype is to demonstrate the autonomous control feasibility of the proposed full-scale PHD system; this cannot be adequately performed in simulation.
Keywords
Robots, Palletising
Conclusion
This article presents the design and control of scale prototype Pallet Handling Device (PHD) hardware for autonomous loading of pallets into semi-truck trailers. This project was successful in demonstrating that autonomous loading is feasible using sensor feedback and a PLC. Simulation alone is not sufficient to prove that the concept will Figure 15 Pallet loading top view Figure 14 Axis 2 closed-loop control results Figure 16 Yawed trailer pallet placement results 297 Prototype trailer-loading robot John J. Ottersbach and Robert L. Williams II Industrial Robot: An International Journal Volume 27 . Number 4 . 2000 . 288–298function as required in reality. Design lessons learned will be reflected in the full-size system design. While much of the focus in this article is on the prototype hardware, most of the technology described will be used directly in the full-scale hardware in the future. Such a system has great potential to save shipping costs by automating loading docks where there is a high volume of consistently-sized pallets. The current project focused only on pallet loading. The autonomous unloading of pallets is more challenging due to over-theroad pallet shifting and will be addressed in prototype hardware in the future.

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