Simulation of a Pick and Place System for Electronic Cards Using a YuMi Cobot

Collaborative Robots are one of the main drivers of Industry 4.0, which started as a vision focusing on industrial production. It addresses several challenges in the current manufacturing industry such as performing repetitive work and requiring highly skilled workers. The goal of the research is to be able to simulate a pick and place environment with electronic cards using a YuMi cobot and mobile platforms in Coppeliasim. The mobile robot is responsible for transporting the electronic cards to the target location through path planning implemented using the OMPL plug-in. After arriving at the target location, YuMi will then perform the pick and place task from vertically stacked cards through inverse kinematics. Use cases were considered on the chosen mobile platform and robotic arms to determine the capabilities and limitations of the hardware involved. In addition, the total power consumption was obtained for energy assessment when the setup is performed in a real-world setting. For this particular setup, the fourth joint starting from the base consumed the most power and is therefore the primary target for optimization.