WO2020120447A1

WO2020120447A1 - Mobile manipulator module and robot system made up of at least two mobile manipulator modules

Info

Publication number: WO2020120447A1
Application number: PCT/EP2019/084370
Authority: WO
Inventors: Zine Elabidine CHEBAB; Jean-Christophe Fauroux; Laurent Sabourin; Nicolas BOUTON; Youcef MEZOUAR
Original assignee: Sigma Clermont; Universite Clermont Auvergne; Centre National De La Recherche Scientifique
Priority date: 2018-12-11
Filing date: 2019-12-10
Publication date: 2020-06-18
Also published as: FR3089445B1; FR3089445A1

Abstract

The invention relates to a mobile manipulator module (1) intended to function independently, and in a cooperative manner with at least one other mobile manipulator module, having a frame (3) on which there are mounted at least one means of locomotion (21) and at least one operational means (42) that are linked to the frame (3) by at least one locomotion kinematic chain and at least one operational kinematic chain, respectively.

Description

DESCRIPTION

TITLE: Mobile manipulator module and robotic system made up of at least two mobile manipulator modules

The present invention relates to a mobile manipulator module intended to operate in independent mode and in cooperative mode with at least one other modular mobile manipulator, identical or not.

By mobile manipulator is meant a robotic system comprising two distinct entities, namely one or more manipulators and a mobile platform. The association of the mobile platform and the or manipulator allows an enlargement of the workspace of this or these manipulators by the mobile platform.

Known mobile platforms may include a body and displacement training means such as legs, tracks, wheels and combinations thereof.

The most common structure of a mobile manipulator is generally composed of a mobile platform with wheel (s) equipped with a serial manipulator presenting a kinematic structure constituted by a juxtaposition of simple connections such as pivot connection, prismatic connection or a combination thereof.

Document CN 106 584 419 thus describes a mobile robot for logistics distribution comprising a mobile part consisting of a platform resting on the ground by two drive wheels and two idle wheels and which carries a temporary deposit table. An articulated robot arm with a gripping hand is mounted on the platform. This arm can then grab items and place them on the temporary deposit table to bring them then to a delivery location, for example.

A robot of the same type is also described in CN 207223954 which presents a mobile platform with four wheels carrying a guidance system and an article handling arm.

Document CN 108000477 also describes a robot made up of a mobile platform on three wheels, carrying an articulated arm provided with a tool for screwing a valve. The manipulator arm can thus be brought into line with the valve, which can be manipulated more simply.

In JP-S64 49237 is described a robot comprising a carriage with four wheels on the upper face of which is mounted a rotary depositing table. An arm mechanism gripper is also mounted on the cart and allows gripping items such as packages. This arm thus allows the seizure of a package and its transport to then deposit it in another location from the table or vice versa.

WO2018 / 045448 also discloses a mobile work station for transporting several articles. Such a station consists of a platform mounted on a chassis provided with two driving wheels and other pivoting stabilizing wheels, the chassis further comprising a fixed manipulator arm making it possible to load and unload articles on the platform. The platform is rotatable with a vertical axis relative to the chassis, which allows several articles to be placed on it by the manipulator arm. This type of robot is used to transport several objects from one point to another.

Such mobile manipulators are often used for carrying out specific items transport operations, for example in delivery logistics.

Also proposed in US 2011/040427 is a hybrid mobile robot consisting of tracks and an articulated arm, preferably mounted articulated at one end of the tracks, either between the tracks or on the side of a track, the articulated arm, can carry at its end an operational tool such as pliers. Such a robot thus shows a structure allowing it a configuration for handling, the tracks and the part of the arm linked to them serving as support and the other part of the arm serving for handling. The tracks and the articulated arm, for example folded, are also used to move the robot on flat or irregular surfaces in displacement configuration. The structure of this robot thus offers a mobile platform and a manipulator arm in the form of a single hybrid entity, which can move in an environment difficult to access, such as rough terrain or presenting obstacles.

Such mobile manipulators are often used for carrying out specific operations, in particular in restrictive and dangerous environments for people.

Such mobile manipulators also offer the advantage of being able to work in a cooperative or collaborative manner to carry out tasks, that is to say both in robot-robot or robot-human interaction.

Thus, it is common to speak of cooperation for robot-robot interaction and collaboration to speak of robot-human interaction.

WO 2015/128594 discloses a mobile manipulator allowing the transport of loads and comprising a gantry with two lateral uprights connected at their upper ends by a beam. The opposite ends of the lateral uprights are equipped with propulsion means while means for gripping a load are positioned between the lateral uprights linked to the transverse beam by a kinematic chain of positioning and orientation which allows the rotation of the gripping means around an axis substantially normal to the transverse beam and belonging to the plane defined by the gantry and the rotation of the means gripping around an axis normal to the plane defined by this gantry.

These manipulators can in particular be equipped with gripping means comprising a clamp for gripping a load and in the case of a transport of a load of elongated type, several manipulators are distributed along said load and cooperate to grab this load and transport it.

However, robot-robot cooperation most often comes down to juxtaposing these robot units in their function. In WO 2015/128594 each mobile manipulator performs the task for which it is intended, namely the lifting of an object, the cooperation making it possible to distribute several manipulators along the object to be lifted. It is thus usual to see mobile manipulators cooperate in order to carry out a specific job, for example of transporting a bulky load requiring the cooperation of several mobile manipulators, each manipulator participating autonomously in the transport of the load.

Document CN108116898 describes a manipulator arm making it possible to pick up objects, the arm being mounted on a mobile platform to allow the picked object to be brought to a place of removal or stacking. Such a mobile manipulator can be used in cooperation with other mobile manipulators of the same type, but each one always fulfills its own function in this case.

Such manipulators have the disadvantage of having an operational arm permanently fixed to the mobile base. In addition, they are specifically dedicated to a use and therefore, it is generally proposed large manipulator robots to handle large products and small robots for small products, which further decreases the rate of use of means of production for products of various sizes.

This requires a heavy investment for industries wishing to be able to equip themselves with such mobile manipulators.

In order to overcome these drawbacks, the invention aims to propose a mobile manipulator module (robotic unit) which can adapt to the scale (mass, size) of the product under consideration as well as to the production process.

The present invention also aims to propose a mobile manipulator module usable as such to perform a specific operation to which it is dedicated, alone or with other identical manipulators but which, in addition, can be used in cooperation with at least one other mobile manipulator to form a new mobile manipulator.

To this end, the subject of the invention is a mobile manipulator module comprising a chassis on which are mounted at least one means of locomotion and at least one operational means linked to the chassis, respectively by at least one kinematic locomotion chain and at least one operational kinematic chain, characterized in that the locomotion and operational kinematic chains are serial chains and form an open kinematic chain of the mobile manipulator module whose structural parameters are: - connectivity of the mobile manipulator Sm corresponding to the following formula:

Sm = SI + So - Scom with Sm £ 6 with SI the connectivity of the chassis carried by its kinematic chain (s) of locomotion, with respect to a displacement surface such as the ground, such as SI ³ 2; with So the connectivity of the operational kinematic chain such as 2 £ So £ 5; Scom £ 1 corresponding to the common connectivity between the locomotion and operational chains, the connectivity of the mobile manipulator allowing the performance of a task assigned to said manipulator in a local coordinate system of the mobile manipulator module (G, x, y, z in which G is the center of gravity of the mobile manipulator, x its axis of advance, z the normal to the displacement surface leaving the material and y the lateral axis such that the trihedron (x, y, z) is direct) requiring following speed components: speed of advance of the operational tool of the manipulator vx, speed of rise of the operational tool of the manipulator relative to the displacement surface of the mobile manipulator v _z , speed of pitch of the operational tool of the manipulator w _y and turning speed w _z of the operational tool of the manipulator

- a mobility Mm of the mobile manipulator corresponding to the formula:

Mm = Ml + Mo with Ml the mobility of the chassis, carried by its kinematic chain (s) of locomotion, with respect to the ground such as Ml ³2; with Mo the mobility of the operational kinematic chain equal to the sum of the mobilities of each link constituting it, said chain comprising at least one link

- a redundancy 0 £ Tm £ 1 corresponding to the formula: Tm = Mm - Sm or Tm = MI + Mo - SI - So + Scom,

- a degree of hyperstatism Nm ³ 0.

The connectivity S of the mobile manipulator module according to the invention is the dimension of the vector space of the relative speeds between the operational tool and the ground corresponding to the surface on which the module moves. This dimension gives the number of finite independent displacements that the operational tool can make relative to the ground.

Mobility M is the degree of freedom of the operational tool with respect to the ground, i.e. the number of independent coordinates required for defining the configuration of the kinematic chain. For the calculation of mobilities, we use the formulations of Gogu [Mobility of mechanisms: a critical review, Mecanism and MachineTheory, pp. 1068-1097, 2005]

T redundancy is broken down into two types: operational (kinematic) and structural. Operational redundancy is always measured in relation to a given task, hence its name. It appears when the mobility of the mechanism is strictly greater than that necessary to perform a given task. As for structural redundancy, it characterizes the difference between the dimension of the articular space and the dimension of the operational space of a mechanism. Thus, it is the structural redundancy which describes the structure of the mobile manipulator module according to the invention, it is therefore it which is used as the structural parameter.

The degree of hyperstatism N is a structural parameter for mechanisms that contain closed loops in their kinematic chains. It represents the difference between the maximum number of parameters of the connections which can lose their independence in the closed loop, and the number of parameters of the connections which really lose their independence in the closed loop. This parameter is calculated in the same way as the other structural parameters of the mobile manipulator module according to the invention.

Such a mobile manipulator module therefore has both a simple structure with a reduced degree of mobility, unlike most existing mobile manipulators. Indeed, the latter are, most of the time, obtained by the juxtaposition of a manipulator arm with 6-7 mobilities on a mobile base with 2 mobilities, which results in a mobile manipulator with 8-9 mobilities, ie a redundancy of 2 or 3. By limiting the redundancy, we can obtain mobile manipulators capable of the same tasks but with a simpler, more rigid and less costly structure.

Operational connectivity So between 2 and 5 is preferably 3 or 4.

These mobile manipulator modules can be used in autonomous mode and also in cooperative mode with one or more other mobile manipulator modules. Cooperation can consist of the co-manipulation of the same load or the same tool through the operational kinematic chain.

According to another characteristic of the mobile manipulator module, the latter also includes a connecting means intended to create a connection with another mobile manipulator.

Thus, advantageously, the connection means provided on the mobile manipulator module allows the cooperation of this module with at least one other mobile manipulator module by means of a connection to this other module to form a cooperative robotic system.

Such a connecting means makes it possible to form cooperative robotic systems associating several mobile manipulator modules or robotic units which are less expensive to manufacture than a single large robot of equivalent capacity. A mobile manipulator module according to the invention can therefore be used both alone and in cooperation with others.

A cooperative robotic system can thus be formed by several mobile manipulator modules connected to each other by means of a co-manipulated load / tool or by means of the connecting means.

The invention therefore makes it possible to propose a modular mobile manipulator robot capable of better adaptation to different production tasks, especially in an industrial context where one wishes to manufacture small series variable in nature and in number. The modularity of the mobile manipulators according to the invention allows them to adapt not only to the nature of the task which can be handling, storage, manufacturing, assembly, control, etc., but also at its intensity in terms of rates and variable loads.

Thus, instead of designing “large” expensive and underused robots, the mobile manipulator modules according to the invention are developed in the form of a plurality of simple entities which can be judiciously combined in the form of a complex cooperative robotic system. '' adapting to production needs. Such mobile manipulator modules are in a standard form allowing mass production and this, at a lower cost, thanks to economies of scale. It is thus possible to provide a fleet of mobile manipulator modules usable in autonomous or cooperative mode adjustable to production needs and making this use more reliable. Each module being similar, if one breaks down, another replaces it.

According to one embodiment, the connection means can consist of a connection member provided on the chassis of the mobile manipulator module and complementary to a connection member provided on the chassis of another module. Thus, for example, the chassis of a module has a locking hook and a complementary locking member, so that the hook of one module is locked on the complementary locking member of another module.

According to an alternative embodiment, the connecting means is connected to the chassis by a kinematic positioning and / or orientation chain.

An operational or linkage kinematic chain includes kinematic links of the cylindrical, rotoid, prismatic, helical group.

On each mobile manipulator module, at least one kinematic locomotion chain and one operational kinematic chain are defined.

At the end of a kinematic chain of locomotion, a locomotion member is put in place and at the end of an operational kinematic chain an operational tool.

Preferably, a locomotion member is chosen from the group comprising a wheel, a caterpillar, an omnidirectional wheel, a Swedish wheel known by the trade name Mecanum, a lug.

The operational tool can be a tool for machining, drilling, screwing, sanding, painting, welding, gluing, stripping, etc.

The operational tool can be a manipulation tool allowing the gripping of objects. Advantageously, the handling tool is suitable for gripping and handling standardized cases used in logistics, and consists of a plate complementary to the shape of the handle of the case and inserted at constant orientation in this last, completed by a perpendicular rod and a pivot. The operational tool can be a tool allowing the connection with another mobile manipulator module, either on the chassis thereof, or on an operational kinematic chain, for example.

Thus, advantageously, the operational kinematic chain is arranged to allow the tool carried at the end of the chain to be used both as an operational manipulation type tool and as a connection tool. Thus, the tool fixed at the end of the chain can be the same, for example, for handling objects and for making a connection with another mobile manipulator module. Alternatively, the machining tool can be replaced by a connecting tool, if necessary. This further promotes the adaptability of a module according to the invention.

Consequently, the mobile manipulator module according to the invention can be used as a unitary module (robotic unit) for carrying out an operation using its operational means or means or as a cooperative module, when it is used in connection with at least one other mobile manipulator module of the same type or even of another type, either in connection by means of the load transported for example, or in direct connection between modules.

The operational kinematic chain is therefore configured to make it possible to pass from a use as a means of manipulation for example, to a use as a means of connection.

It is thus simple to switch from one use to another of this means according to the robotic system which one needs.

According to a preferred form of the invention, the module according to the invention comprises at least two operational means, preferably at least one also being a connecting means.

Preferably, an operational means is of the handling means type which allows the transport and handling of loads, for example boxes, handling means.

A mobile manipulator module can advantageously be used in manufacturing plants such as automobile manufacturing plants in which the parts of each vehicle are collected upstream in a preparation area and placed on trays or standardized cases, to then be taken to the assembly line and the vehicle corresponding to the prepared assembly kit.

The operational means is chosen from among a means of machining, drilling, screwing, sanding, milling, polishing, painting, welding, gluing, stripping and any other useful operational member. According to a preferred embodiment, it is then possible to form a cooperative robotic machining system consisting of several modules connected by their connecting means and working in parallel, thus forming a larger machining robot capable of working on a product of dimension. bigger.

Thus, for example, when the operational tool of each module according to the invention is a sanding tool, several modules are connected together, which makes it possible to sand a larger surface using a cooperative robotic system as well formed by cooperation of the modules. This cooperative system constitutes a multi-tool poly-robot but which, moreover, owing to the links between modules can be controlled in displacement in the form of a single system and in operation in a global and / or unitary manner.

According to a preferred embodiment, the chassis consists of a gantry having two lateral uprights connected at one end by a transverse beam, the opposite end of the uprights having a means of transport. This means of locomotion, for example a wheel, is linked to the upright by a kinematic locomotion chain, for example a motorized pivot. Means for handling a load extend from the transverse beam using an operational kinematic chain which carries a handling tool, and means for connecting with another modular mobile manipulator, making it possible to form a robotic entity or poly-robot consisting of at least two modules, the connecting member preferably being constituted by the handling tool and cooperating with the other module.

Preferably, the manipulator module according to the invention comprises two means of locomotion.

According to an advantageous embodiment of the invention, the module also comprises a stabilization means, intended to create a support against a surface so as to stabilize the positioning of the module. This stabilization means is connected to the chassis with a kinematic positioning and orientation chain making it possible to create additional support against a surface such as the ground, a wall, so as to stabilize in position the mobile manipulator module when necessary.

This stabilization means can advantageously be constituted by an operational means.

Advantageously, the kinematic chain for positioning and orienting the operational means is arranged to allow the tool carried at the end of the chain to be used both as an operational tool and as a stabilization tool. Preferably, an operational tool can also constitute a stabilization tool. Alternatively, the operational tool can be replaced by a stabilization tool.

The kinematic chain of positioning and orientation of this operational means is therefore configured to allow to pass from a use as an operational means, to a use as a connection means. It is thus simple to switch from one use to another of this means according to the robotic system which one needs.

According to one embodiment, the chassis consists of a gantry having two lateral uprights connected at one end by a transverse beam, the opposite end of the uprights having means of locomotion linked to the upright by a kinematic locomotion chain such as a motorized pivot, an operational means extending from the transverse beam using an operational kinematic chain carrying an operational tool.

According to a variant, this operational kinematic chain comprises a slide link with an axis substantially normal to the plane of movement of the mobile manipulator such as the ground when the chassis is at zero pitch, followed by a pivot link with an axis substantially lateral to the module, followed by a pivot link with an axis substantially perpendicular to the axis of the previous link, the last solid of this link being an operational tool.

The operational kinematic chain may alternatively comprise a pivot link with an axis substantially normal to the plane of movement of the module such as the ground, when the chassis is at zero pitch, followed by a pivot link with an axis substantially perpendicular to the axis. of the previous link, followed by a pivot link with an axis substantially parallel to the axis of the previous link, the last solid of this link being an operational tool.

The operational kinematic chain may alternatively include a pivot link with a substantially longitudinal axis relative to the chassis when the latter is at zero pitch, followed by a pivot link with an axis substantially perpendicular to the axis of the previous link, followed a pivot link with an axis substantially parallel to the axis of the previous link, followed by a pivot link with an axis substantially perpendicular to the axis of the previous link, the last solid of this link being an operational tool.

The order of one or more links in the operational serial chain can also be swapped.

Advantageously, a mobile manipulator according to the invention can be used to carry out handling, transport and manufacturing tasks in a context industrial. Thus, for example, among the handling tasks, a mobile manipulator can be used to handle and transfer objects from one location to another, for example from a treadmill to another or to a storage box, to carry out parts kits, or handling at the edge of the production line. The invention will now be described in more detail with reference to the accompanying drawing in which

[Fig. 1] shows a schematic view of a cooperative robotic system consisting of several mobile manipulator modules according to the invention;

[Fig. 2] shows a perspective view of a mobile manipulator module according to a first embodiment of the invention;

[Fig. 2A] shows the graph of the structure of a robotic system comprising two modules of Figure 2 working in co-manipulation mode;

[Fig. 2B] shows two modules of FIG. 2 at a stage of co-manipulation of a load, when approaching the load; [Fig. 2C] shows two modules of FIG. 2 in the lifting stage of co-handling of a load,

[Fig. 2D] show the two modules of FIG. 2 in the deflection step of co-handling of a load,

[Fig. 3A] shows the graph of the structure of a robotic system consisting of two modules of Figure 2 working in connection mode;

[Fig. 3B] represents a schematic view of the robotic system composed of two mobile manipulator modules in FIG. 2 working in connection mode for handling a load, in the approach step;

[Fig. 3C] represents a schematic view of the robotic system composed of two mobile manipulator modules in FIG. 2 working in connection mode for handling a load, in the gripping step;

[Fig. 3D] represents a schematic view of the robotic system composed of two mobile manipulator modules in FIG. 2 working in connection mode for handling a load, at the connection stage [Fig. 3E] represent a schematic view of the robotic system composed of two mobile manipulator modules in FIG. 2 working in connection mode for handling a load, in the lifting step;

[Fig. 4] shows a schematic view of a mobile manipulator module according to a second embodiment of the invention;

[Fig. 4A] shows the graph of the structure of a robotic system comprising two modules of Figure 4 working in co-manipulation mode;

[Fig. 4B] represents the two-module robotic system of FIG. 4 for the co-manipulation of a load, in the step of approaching the load; [Fig. 4C] represents the two-module robotic system of FIG. 4 for co-handling a load, in the step of lifting the load and;

[Fig. 4D] represents the robotic system with two modules of FIG. 4 for the co-manipulation of a load, in the turning step;

[Fig. 5] shows a schematic view of a mobile manipulator module according to a third embodiment of the invention;

[Fig. 5A] shows the graph of the structure of a robotic system comprising two modules of Figure 5 working in co-manipulation mode;

[Fig. 5B]; [Fig. 5C] and [Fig. 5D] represent the robotic system comprising two modules of FIG. 5 at different stages of the co-manipulation of a load, respectively approaching the load, lifting and turning;

[Fig. 6] shows a schematic view of a mobile manipulator module according to a fourth embodiment of the invention;

[Fig. 6A], [Fig. 6B], [Fig. 6C], [Fig. 6D] and [Fig. 6E] respectively represent the mobile manipulator module of Figure 6 in autonomous mode of handling a box to store it on a shelf;

[Fig. 7] shows a sectional view of a box with a handling tool in engagement with the module of FIG. 6

[Fig. 8] and [Fig. 8A] respectively represent the module of FIG. 6, respectively resting on the ground on its operational tool and with its operational tool raised. [Fig. 8B], [Fig. 8C], [Fig. 8D], [Fig. 8E], [Fig. 8F] and [Fig. 8G] respectively represent a robotic system consisting of two modules according to Figure 6 in cooperative mode for handling a box;

[Fig. 9] and [Fig. 9A] respectively represent a module according to FIG. 6 equipped with an operational sanding tool;

[Fig.10] and [Fig. 10A] respectively represent a robotic system consisting of two modules according to FIG. 9 in cooperative mode connected for sanding a surface;

[Fig. 11] represents a module according to another embodiment of FIG. 6, equipped with two locomotion members of the "caterpillar" type;

[Fig. 12] represents a module according to another alternative embodiment of FIG. 6, equipped with two locomotion members of the “Swedish wheel” type;

[Fig. 13A], [Fig. 13B] and [Fig. 13C] represent a robotic system in connection mode consisting of a module according to FIG. 6 and a module according to another variant embodiment of the invention at different phases of handling a box, respectively locomotion in connected mode, lifting and other posture;

[Fig. 14] and [Fig. 15] represent a module according to the variant of FIG. 6 and a module according to the variant of FIG. 13 respectively resting on the ground on their operational member and in the process of depositing each a case on a shelf.

FIG. 1 shows a connected cooperative robotic system or poly-robot made up of three mobile manipulator modules 1 which interact with each other to achieve a desired task, consisting in carrying a load on this figure.

Each mobile manipulator module 1 has two parts: a locomotion part 2 and an operational part 4.

The locomotion part 2 is responsible for the movement of the mobile manipulator 1 over a surface, generally the ground, and can be made up of all types of locomotion members 21 such as wheel, omnidirectional wheel, Swedish wheel, lug, caterpillar, etc. mounted at the end of kinematic locomotion chains 22 in contact with the surface, generally the ground.

The operational part 4 is connected to the locomotion part 2 by a chassis 3. This operational part 4 is composed of kinematic chains called operational arms 41. Each arm 41 can be used for carrying out a task such as the handling or manipulation of loads, machining such as drilling, etc. and carries a tool 42 at its end. This operational part can also be used to make a connection with another mobile manipulator 1. This is thus called an operational arm 41 or a link arm 5, respectively.

For the latter, the connection can be made on the chassis 3 of another mobile manipulator 1 or on one of its kinematic chains of its manipulation part 4, for example. Each type of arm 4, 5 is equipped with a tool 42, 52 which allows it to fulfill its function, namely an operational tool 41 such as pliers, a drill, etc. or a connecting tool 52 such as pliers, a hook, etc.

Consequently, the function of the arm 4, 5 is determined by the kinematic chain and the tool carried. It can therefore be envisaged that a tool carried by an arm can be changed, thus allowing modularity of the operational part 4, 5 of the mobile manipulator 1 according to the invention. A kinematic locomotion, operational and linkage chain allows the orientation and / or orientation of the organ carried at the end of the chain.

In FIG. 1, a mobile manipulator 1 comprises a chassis 3 on which are mounted three locomotion members 21 by a kinematic locomotion chain 22 and an operational means 42 linked to the chassis 3 by a kinematic chain 41. The module 1 also includes a connecting means 52 to another mobile manipulator module 1.

In addition, the mobile manipulator module 1 in FIG. 1 also includes a stabilization means 6 for the module 1. The stabilization means 6 is supported on the ground and also connected by a kinematic chain to the chassis 3, this chain possibly being a chain operational or a locomotion chain with a stabilizing role.

Thus, the linkage kinematic chains 5 make it possible to connect the three modules 1 which, with their operational part 4 collectively carry a load and move in the form of a single robotic system for transporting said load.

Each manipulator module includes control means allowing the control of the module in remote tele-operation mode by a human operator or in automatic mode, by centralized or distributed control.

The mobile manipulator module 1 shown in FIG. 2 comprises a chassis 3 in the form of an inverted U-shaped gantry consisting of two lateral uprights 31 connected at one end by a transverse beam 32. The free end of each upright 31 comprises a means of transport such as a wheel 21 linked to the upright 31 by a kinematic positioning and orientation chain constituted by a motorized pivot 22.

The module 1 comprises an operational gripping means 42 here linked to the chassis 3 by an operational kinematic chain 41 which comprises a sliding link 43 of axis substantially normal to the ground on which the module 1 moves when the chassis 3 is pitched zero. This slide link 43 is followed by a pivot link 44 of axis substantially lateral to the module 1, followed by a pivot link 45 of axis substantially perpendicular to the axis of the previous link 44, the last solid of this chain being the operational tool 42 such as a gripper.

The structure graph represented in FIG. 2A shows, like the other graphs, the different solids S and connections (P pivot and R rotation) of a robotic system with two manipulator modules described in FIG. 2.

Figures 2B, 2C and 2D show a robotic system consisting of two mobile manipulator modules 1 according to Figure 2 used to transport a box C in cooperative handling or co-handling. FIG. 2A represents the structure graph of the robotic system thus created.

Thus, FIG. 2B shows the approach phase during which each mobile manipulator 1 is guided opposite one another to each approach a handle of the body C, each being positioned and oriented relative to at the said box C.

During the gripping phase of the body by each module 1, a robotic system is formed consisting of these two modules 1 connected to the body C. Once each module 1 is anchored on the body C, the lifting phase is carried out as this is visible in Figure 2C.

This phase consists in lifting the box C from the ground and the movements of the modules 1 are synchronized in order to ensure the stability of the assembly consisting of the robotic system and the box C. Then the box is taken to the location where it should be placed and which can be on the floor or on a shelf. During the removal phase, a reconfiguration phase is necessary for the robotic system constituted because the orientation of the body for the removal phase is not necessarily the same as during the lifting phase. For example, the body must be raised to a height necessary for depositing on a shelf while retracting the mobile manipulators 1 laterally as the body advances on the shelf by operating a deflection as shown in the figure 2D. Figures 3B, 3C, 3D and 3E show two manipulator modules according to Figure 2 operating in the form of a robotic system in which the connection between the two manipulators allows operation in connected cooperation. This connection is made using the operational kinematic chain 41, which constitutes a connecting kinematic chain 51, the gripping tool 42 serving as a connecting tool or being replaced at the end of the chain 51 by a tool specific binding.

One of the modules is guided and oriented relative to the body to come and grasp it as can be seen in Figures 3B and 3C. Then the second module 1 is connected to the chassis 3 of the first module 1 in engagement with the body C (FIG. 3D) to allow the lifting of the body C visible in FIG. 3E.

FIG. 3A shows the structure graph of the robotic system thus constituted. The operational kinematic chain 4 of module 1a becomes the connecting kinematic chain 5 allowing it to bind to module 1 to form a robotic system R.

In Figure 4 is shown a mobile manipulator module 10 which comprises a frame 3 in the form of an inverted U-shaped gantry consisting of two lateral uprights 31 connected at one end by a transverse beam 32. The free end of each upright 21 includes means of locomotion such as a wheel 21 linked to the upright 31 by a kinematic positioning and orientation chain constituted by a motorized pivot 22.

On this chassis 3 is mounted an operational kinematic chain 410 comprising a pivot connection 430 of axis substantially normal to the ground, when the chassis 3 is at zero pitch, followed by a pivot connection 440 of axis substantially perpendicular to the axis of the previous link 430, followed by a pivot link 450 with an axis substantially parallel to the axis of the previous link 440, the last solid of this link being a gripping tool 420.

The mode of use of such a module 10 in co-manipulation with an identical module 10 is shown in FIGS. 4B, 4C and 4D according to the approach, gripping and lifting, turning under load phases. FIG. 4A shows the structure graph of the robotic system formed by two modules 10 for carrying a box C.

FIG. 5 shows a similar mobile manipulator module 101 but whose operational kinematic chain 411 comprises a pivot link 431 of substantially longitudinal axis relative to the frame 3 when the latter is at zero pitch, followed by a pivot link 441 axis substantially perpendicular to the axis of the previous link 431, followed by a pivot link 451 of axis substantially parallel to the axis of the previous link 441, followed by a pivot link 461 with an axis substantially perpendicular to the axis of the previous link 451, the last solid of this link being a gripping tool 421.

FIGS. 5B, 5C and 5D represent the different phases for the co-handling transport of a box with two modules 100, respectively the approach of the load, its lifting in co-manipulation and the turning under load.

FIG. 5A shows the structure graph of the robotic system formed by the two modules 100 from the ground S to the body C

In FIG. 6 is shown a mobile manipulator module 1A whose chassis 3 is in the form of a gantry and connected to the ground by two wheels 21. The operational means 42A is suitable for gripping and handling standardized cases used in logistics, and consists of a plate complementary to the shape of the handle of the body C and inserted at constant orientation therein, completed by a perpendicular rod and a pivot. This operational member 42A has a substantially U-shaped hook enabling it to grip a body handle as can be seen in FIG. 7. Such a mobile manipulator 1A also has the advantage of being able to move with two ground contacts ( Figure 6B) or with three ground contacts as shown in Figure 6A.

As we can see in Figures 6A, 6B, 6C, 6D and 6E, we carry out the handling of a box C using a single module 1A depending on the approach phase (Figure 61), the phase gripping (fig. 6B) the lifting phase (fig. 6C) and transport (fig. 6D) then placing on a shelf (fig. 6E).

In FIGS. 8B to 8G, the module 1A is used to form a robotic system for co manipulation of a box C. Thus, in FIG. 8B the two mobile manipulator modules 1A approach the box C and then grasp it as can be seen in Figure 8C before lifting it (Figure 8D) to transport it to a shelf E (Figure 8E). In front of shelf E, the two modules 1A move to retract laterally as the body advances on the shelf by turning it as seen in Figure 8F, until it is placed on the shelf visible in Figure 8G.

The handling member 42A can be replaced by a machining member 42B such as a sanding tool as can be seen in FIGS. 9 and 9A.

In Figure 10 is shown a robotic system consisting of two mobile manipulator modules 1 B whose locomotion part is similar to module 1A but whose chain operational kinematics 4B is mounted on the chassis 3 at the intersection between a lateral upright 31 and the cross-member 32.

Each chassis 3 further comprises a connecting member 51 carried by the chassis 3 and cooperating with a complementary connecting member 51 carried by the chassis 3 of the other module 1 B forming a kinematic link chain between the modules 1 B to allow movements between modules 1 B within the robotic system thus created.

Such a robotic system thus makes it possible to sand a larger surface as can be seen in FIG. 10A.

A mobile manipulator module 1 B according to the invention can also be presented as a module similar to that 1A of FIG. 6 but which have, as locomotion means fixed to the ends of the uprights 31, tracks 23 as can be seen at Figure 11.

As a variant in FIG. 12, the means of locomotion consist of wheels of the Swedish type 24 still known under the name Mecanum.

In FIG. 13 is shown a robotic system consisting of a module 1A connected to a module 1 D. This mobile manipulator module 1 D has a chassis 3 and means of transport similar to those of the mobile manipulator module 1A.

This module 1 D comprises an operational kinematic chain 4 which carries at its end as an operational member either a sphere 6 or a tool 42A. The chassis 3 advantageously comprises on its lateral uprights 31 receiving locations 33 arranged to accommodate one and the other of these members when they are not in use. This operational chain 4 can also be connected to the module 1A for example on the transverse beam 32 of the chassis 3 and thus form a robotic system made up of these two connected modules. Thus, as can be seen in FIGS. 13A, 13B and 13C, such a robotic system can lift a box, the movements of the two connected modules allowing the establishment of the terminal member 42A on the handle of the box (cf. figure 13B) then lifting the box (Figure 13C) to bring it to a shelf.

As can be seen in FIGS. 14 and 15, the mobile manipulator module 1 D when the functional kinematic chain 4 carries the sphere 6, this operational “arm” 6 is used to stabilize the mobile manipulator 1 D while moving, forming a third point of ground contact. When the tool 42A is mounted at the end of the chain 4, the mobile manipulator 1 D can independently handle a box as can be seen in FIGS. 14 and 15.

Claims

1. Mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) comprising a chassis (3) on which are mounted at least one means of locomotion (21, 23, 24) and at least one means operational (42, 42A, 42B) linked to the chassis (3), respectively by at least one locomotion kinematic chain and at least one operational kinematic chain,

characterized in that the kinematic chains of locomotion and operational are serial chains and form an open kinematic chain of the mobile manipulator module whose structural parameters are:

- connectivity of the mobile manipulator Sm corresponding to the following formula:

Sm = SI + So - Scom with Sm £ 6

with SI the connectivity of the chassis carried by its kinematic locomotion chain or chains, with respect to a displacement surface, such as SI ³ 2;

with So the connectivity of the operational kinematic chain such as 2 £ So £ 5;

Scom £ 1 corresponding to the common connectivity between the locomotion and operational chains,

the connectivity of the mobile manipulator allowing the performance of a task assigned to said manipulator in a local frame of reference of the mobile manipulator module (G, x, y, z in which G is the center of gravity of the mobile manipulator, x its axis of advance , z normal to the displacement surface leaving the material and y the lateral axis such that the trihedron (x, y, z) is direct) requiring the following speed components: feed speed v _x of the tool operating speed of the manipulator, elevation speed v _z of the operating tool of the manipulator relative to the surface on which the mobile manipulator moves, pitch speed W _y of the operating tool of the manipulator and turning speed w _z of l operational tool of the manipulator

- a mobility Mm of the mobile manipulator corresponding to the formula:

Mm = Ml + Mo

with Ml the mobility of the chassis, carried by its kinematic chain (s) of locomotion, relative to the ground, such as Ml ³2;

with Mo the mobility of the operational kinematic chain equal to the sum of the mobilities of each link constituting it, said chain comprising at least one link

- redundancy 0 £ Tm £ 1

corresponding to the formula: Tm = Mm - Sm or Tm = MI + Mo - SI - So + Scom,

- a degree of hyperstatism Nm ³ 0

2. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D)) according to claim 1, characterized in that it comprises as operational means (42) a gripping and manipulation member d 'a load, mounted at the end of the operational kinematic chain.

3. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 and 2, characterized in that it also comprises at least one connecting means (52) intended to create a link with another mobile manipulator.

4. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to claim 3, characterized in that the connecting means (52) is connected to the chassis (3) by a kinematic chain of positioning and / or orientation.

5. Mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 3 or 4, characterized in that it comprises at least two operational means.

6. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 to 5, characterized in that the operational means is chosen from a means of machining, drilling , screwing, sanding, painting, welding, gluing, stripping.

7. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 to 6, characterized in that the operational means (42A) is suitable for gripping and handling of standardized cases used in logistics, and consists of a plate complementary to the shape of the handle of the case and inserted at constant orientation therein, completed by a perpendicular rod and a pivot.

8. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 to 7, characterized in that it comprises at least one stabilization means, intended to create a support against a surface so as to stabilize the positioning of the module.

9. Mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to claim 8, characterized in that the stabilization means is connected to the chassis by a kinematic positioning and orientation chain.

10. Mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 to 9, characterized in that it comprises at least one means of locomotion chosen from the group comprising a wheel, a track, an omnidirectional wheel, a Swedish type wheel, a dropout.

11. mobile manipulator module (1, 10, 100, 1A, 1 B, 1C, 1 D) according to one of claims 1 to 10 characterized in that the chassis (3) consists of a gantry having two lateral uprights (31) connected at one end by a transverse beam (32), the opposite end of the uprights (31) having a means of locomotion (21) linked to the upright by a kinematic chain of locomotion, an operational means (4) extending from the transverse beam (32) using an operational kinematic chain (41) carrying an operational tool (42).

12. mobile manipulator module (1) according to one of claims 1 to 11, characterized by an operational kinematic chain (41) comprising a slide link (43) with an axis substantially normal to the plane of movement of the mobile manipulator such as the ground when the chassis (3) is at zero pitch, followed by a pivot link (44) with an axis substantially lateral to the module (1), followed by a pivot link (45) with an axis substantially perpendicular to the axis of the previous link (44), the last solid of this link (44) being an operational tool (42).

13. mobile manipulator module (10) according to one of claims 1 to 11, characterized by an operational kinematic chain (410) comprising a pivot link (430) of axis substantially normal to the plane of movement of the module (1) such that the ground (S), when the chassis (3) is at zero pitch, followed by a pivot link (440) with an axis substantially perpendicular to the axis of the previous link (430), followed by a pivot link ( 450) with an axis substantially parallel to the axis of the previous link (440), the last solid of this link (450) being an operational tool (420).

14. mobile manipulator module according to one of claims 1 to 11, characterized by an operational kinematic chain (411) comprising a pivot link (431) of substantially longitudinal axis relative to the chassis (3) when the latter is pitched zero, followed by a pivot link (441) with an axis substantially perpendicular to the axis of the previous link (431), followed by a pivot link (451) with an axis substantially parallel to the axis of the link ( 441) above, followed by a pivot link (461) with an axis substantially perpendicular to the axis of the previous link (451), the last solid of this link being an operational tool (421).

15. Mobile manipulator module (1, 10, 100) according to one of claims 12 to 14, in which the order of one or more links of the operational serial chain is swapped.

16. Robotic system, characterized in that it consists of at least two mobile manipulator modules according to one of claims 1 to 15 working independently or in cooperation.

17. Robotic system, characterized in that it consists of at least two mobile manipulator modules according to one of claims 3 to 15, one of the mobile manipulator modules being connected to another by its connecting means.