A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

In this paper, a mobile manipulation system for automatized logistic applications is presented. The robotic specifically designed depalletizing/palletizing tasks, namely product extraction from homogeneous pallets and assembly of new heterogeneous pallets. mainly composed by an autonomous vehicle, collaborative arm lifting device, which able to collect products different pallet layers. handling strategy not based on items, as in classical pick-and-place operations, but dragging them aboard the vehicle. As payload weight supported arm, overall very light compared manipulated paramount benefit application. This paper presents mechanical design, hardware selection experimentation laboratory scenario, thus demonstrating effectiveness proposed strategy.