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Brijesh Patel Shang-Chen Kuo Chih-Chi Yuan Chin-Hsing Kuo Ming-Hau Tsai Lung Chen Liang Jen-Wei Yeh Chung-Hsien Kuo Chao-Lung Yang Po Ting Lin

Abstract

In the current era of automation, there is a growing demand for Autonomous Mobile Robots (AMRs) specifically designed for indoor mobility, where space is often limited. Operating AMRs effectively within such confined environments, where object manipulation poses numerous challenges, is a significant undertaking. This paper introduces the design and development of an Omnidirectional Autonomous Mobile Robot (OAMR) tailored for the indoor manipulation of roll-to-roll flexible printed circuits (FPC) with a payload capacity of 20 Kg. This OAMR is equipped with Mecanum wheels and a two-degree-of-freedom arm, showcasing enhanced maneuverability, which is well-suited for navigating and manipulating objects in tight spaces. Structural analysis of the platform (Application layer) affirms its robustness, ensuring dependable performance in demanding industrial settings with a good safety factor. The control system consists of a controller that implements motion control and multi-sensor data processing. To navigate the OAMR in the indoor environment, LiDAR, along with visual sensors, are fused. Furthermore, the paper delves into the cybersecurity authentication of the OAMR, advocating for the adoption of a zero-trust framework, public key infrastructure (PKI), and digital certificate trust chain technology to safeguard network communication and identity authentication within smart factory environments.

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Keywords

Autonomous Mobile Robot, Flexible Printed Circuit, Mobile Manupulation, Cybersecurity

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