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<p>To address automated container loading challenges in logistics, we developed a robotic system integrating a Mecanum-wheeled chassis with a 6-DoF belt-combined robot arm. The kinematics and dynamics of the system were analyzed, and the link lengths were optimized using particle swarm optimization (PSO) algorithm. The random sample consensus (RANSAC) algorithm identified straight lines for precise navigation within containers. An automatic navigation method based on a finite state machine (FSM) enabled flexible entry and exit. A stacking algorithm guided the robotic arm during loading, using 3D vision for carton localization and calibration. Experimental results demonstrated trajectory accuracy under 4 mm and chassis movement standard deviations of 5.22 mm (X direction) and 1.79 mm (Y direction). The system achieved a loading rate of 955 cartons per hour. This study offers a novel approach to robotics and automation in logistics.</p>

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Design and development of a robotic system for automatic loading with belt-combined robot arm

  • 期刊论文

  • 发表日期：

    2026年1月10日

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  • Li Jin,
  • Liuyi Ling,
  • Chengjun Wang,
  • Yiming Liu,
  • Wenhang Su

摘要

To address automated container loading challenges in logistics, we developed a robotic system integrating a Mecanum-wheeled chassis with a 6-DoF belt-combined robot arm. The kinematics and dynamics of the system were analyzed, and the link lengths were optimized using particle swarm optimization (PSO) algorithm. The random sample consensus (RANSAC) algorithm identified straight lines for precise navigation within containers. An automatic navigation method based on a finite state machine (FSM) enabled flexible entry and exit. A stacking algorithm guided the robotic arm during loading, using 3D vision for carton localization and calibration. Experimental results demonstrated trajectory accuracy under 4 mm and chassis movement standard deviations of 5.22 mm (X direction) and 1.79 mm (Y direction). The system achieved a loading rate of 955 cartons per hour. This study offers a novel approach to robotics and automation in logistics.