A Parcel Transportation and Delivery Mechanism for an Indoor Omnidirectional Robot

Parcel transportation is a task that is expected to be highly automated with the development of application-specific mobile robots. This paper presents the design and implementation of a parcel transportation and delivery mechanism aimed at converting a general-purpose indoor omnidirectional robot into an indoor delivery robot. The design of this new mechanism has considered the best placement in the robot and the limitation of not exceeding the original robot diameter. The mechanism consists of a basket with a lid that allows for the manual loading and automatic unloading of parcels. Despite the space limitations imposed by the general-purpose robot design, the designed mechanism can transport up to 90% of the packages received in an educational building. The mechanism was empirically validated by conducting 125 static manual loading experiments, 150 static unloading experiments, and 50 complete parcel delivery experiments. Results show that the delivery robot can efficiently deliver 78% of the total packages received in the building: envelopes, very small parcels, and small parcels. In the case of medium parcels, the delivery was unsuccessful in 30% of cases, in which the parcel did not properly slide out of the basket.