Mobile Manipulators in Industry 4.0: A Review of Developments for Industrial Applications

Abstract

In the realm of Industry 4.0, diverse technologies such as AI, Cyber-Physical Systems, IoT, and advanced sensors converge to shape smarter future factories. Mobile manipulators (MMs) are pivotal, fostering flexibility, adaptability, and collaboration in industrial processes. On one hand, MMs offer a remarkable level of flexibility, adaptability, and collaboration in industrial processes, facilitating swift production line changes and efficiency enhancements. On the other hand, their integration into real manufacturing environments requires meticulous considerations, such as safety, human-robot interaction, and cybersecurity. This article delves into MMs' essential role in achieving Industry 4.0's automation and adaptability by integrating mobility with manipulation capabilities. The study reviews MMs' industrial applications and integration into manufacturing systems. The most observed applications are logistics (49%) and manufacturing (33%). As Industry 4.0 advances, the paper emphasizes updating and aligning MMs with the smart factory concept by networks of sensors and the real-time analysis of them, especially for an enhanced human-robot interaction. Another objective is categorizing considerations for MMs' utilization in Industry 4.0-aligned manufacturing. This review methodically covers a wide range of considerations and evaluates existing solutions. It shows a more comprehensive approach to understanding MMs in Industry 4.0 than previous works. Key focus areas encompass perception, data analysis, connectivity, human-robot interaction, safety, virtualization, and cybersecurity. By bringing together different aspects, this research emphasizes a more integrated view of the role and challenges of MMs in the Industry 4.0 paradigm and provides insights into aspects often overlooked. A detailed and synthetic analysis of existing knowledge was performed, and insights into their future path in Industry 4.0 environments were provided as part of the contributions of this paper. The article also appraises initiatives in these domains, along with a succinct technology readiness analysis. To sum up, this study highlights MMs' pivotal role in Industry 4.0, encompassing their influence on adaptability, automation, and efficiency.

Keywords: Industry 4.0; human–robot interaction; mobile manipulators; technology readiness level.

Figure 1

Timeline of existing MMs from 1984 to 2010 [3].

Figure 2

A timeline of different projects that contributed to MM development.

Figure 3

A representation of how to achieve proper infrastructure for MM integration inspired by [3].

Figure 4

Suitability of utilizing MMs for each class of industrial operations.

Figure 5

Little helpers from the first generation to the seventh one (from left to right) adopted from [12].

Figure 6

Little Helper 3 from Aalborg University (left); omniRob from KUKA (right).

Figure 7

The controlling system proposed by [14] for integrating MMs into production systems.

Figure 8

MOMA from OMRON adopted from [17].

Figure 9

Using MM to carry large parts with human cooperation adopted from [21].

Figure 10

SAPHARI project: industrial applications required at KUKA (left) and aircraft assembly requirement of Airbus (right) adopted from [24].

Figure 11

ColRobot prototype for automotive industries adopted from [25].

Figure 12

Mirror reflectivity measurement at the VALLE energy plant by MAINBOT adopted from [34].

Figure 13

SAPHARI demonstrations: (left) Airbus use case, (right) Kuka use case adopted from [95].

Figure 14

MM designed in the THOMAS project adopted from [105].

Figure 15

Semantic link between the key principles to consider for their integration into Industry 4.0-based manufacturing systems.

Figure 16

Technology readiness levels.