An automatic effector changer for a mobile robot

Eijiro Takeuchi, Takashi Tsubouchi

Research output: Contribution to journalArticlepeer-review


A mobile robot system with an automatic effector changer is proposed. This robot system accomplishes various tasks by docking with an effector which is designed for a target task. This paper describes techniques of automatic docking with an effector for the mobile robot. They include position alignment technique proper to docking by PWS type mobile robot using simple sensor and mark, and firm holding mechanism between the robot and the effector. Experimental results of effector changing operation using two kinds of effectors in the real environment are illustrated.

Original languageEnglish
Pages (from-to)3220-3227
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number12
Publication statusPublished - 2007 Dec


  • Autonomy
  • Docking
  • Mechanism
  • Moving robot
  • Multiple tasks
  • Positioning

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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