Laser-sintered platform with optical sensor for a mobile robot used in cooperative load transport

This paper presents the design of a highly customized mechanical platform with optical mouse sensor for a miniature mobile robot which will be used for cooperative load transportation. The design takes advantage of an additive manufacturing technology known as laser sintering (LS) to create complex parts quickly and easily. The platform has integrated compliant joints which eliminate the need of using linear bearing to create a movable platform. For control purposes, the two-dimensional movement of the platform is measured using a low-cost optical mouse sensor. Using the laser-sintered platforms and the corresponding sensor systems, the mobile robots are capable of transporting a load cooperatively. The mobile robots rely solely on the physical interactions between their platforms and the load as a way of communicating with each other.