Sensorless localization of a minimally-actuated robotic system for automated pallet de-strapping
ISSN: 0144-5154
Article publication date: 18 October 2021
Issue publication date: 24 November 2021
Abstract
Purpose
The purpose of this paper is to detail the design and prototyping of a smart automation solution for de-strapping plastic bonding straps on shipping pallets, which are loaded with multiple containers secured by a top-cover as they move on a conveyor belt.
Design/methodology/approach
The adopted design methodology to have the system perform its function entails using the least number of sensors and actuators to arrive at an economic solution from a system design viewpoint. Two prototypes of the robotic structure are designed and built, one in a research laboratory and another in an industrial plant, to perform localized cutting and grabbing of the plastic straps, with the help of a custom-designed passive localizing structure. The proposed structure is engineered to locate the plastic straps using one degree of freedom (DOF) only. An additional strap removal mechanism is designed to collect the straps and prevent them from interfering with the conveyor.
Findings
The functionality of the system is validated by performing full-process tests on the developed prototypes in a laboratory setting and under real-life operating conditions at BMW Group facilities. Testing showed that the proposed localization system meets the specified requirements and can be generalized and adapted to other industrial processes with similar requirements.
Practical implications
The proposed automated system for de-strapping pallets can be deployed in assembly or manufacturing facilities that receive parts in standard shipping pallets that are used worldwide.
Originality/value
To the best of the authors’ knowledge, this is the first mechanically smart system that is used for the automated removal of straps from shipping pallets used in assembly facilities. The two main novelties of the proposed design are the robustness of the strap localization without the need for computer vision and a large number of DOF, and the critical placement and choice of the cutting and gripping tools to minimize the number of needed actuators.
Keywords
Acknowledgements
This work was funded by BMW Group, Projekt Innovation und Industrie 4.0, Logistics Robotics Department, M..unchen, Germany. It was supported by the Maroun Semaan Faculty of Engineering and Architecture (MSFEA) at the American University of Beirut (AUB), Beirut, Lebanon.
Citation
Khalifeh, N.E.-H., Youssef, R., Fadel, F., Khalil, R., Shammas, E., Daher, N., Elhajj, I.H., Irrenhauser, T., Niedermeier, M.N. and Poss, C. (2021), "Sensorless localization of a minimally-actuated robotic system for automated pallet de-strapping", Assembly Automation, Vol. 41 No. 6, pp. 681-696. https://doi.org/10.1108/AA-04-2021-0039
Publisher
:Emerald Publishing Limited
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