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Journal of the Korean Institute of Illuminating and Electrical Installation Engineers

ISO Journal TitleJ Korean Inst. IIIum. Electr. Install. Eng.
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Title Design and Control of an Automatic Battery Swapping System Based on Sliding Mechanism for a Mobile Robot
Authors Se-Han Lee
DOI http://doi.org/10.5207/JIEIE.2024.38.4.294
Page pp.294-299
ISSN 1225-1135
Keywords Automatic battery swap; Mobile robot; Sliding mechanism; ROS
Abstract In this research, we designed and controlled an automatic battery swapping system based on a sliding mechanism, intended for use in mobile robots. The system removes the case holding exhausted battery from a robot, replaces it with a charged one, and returns the case to the robot. To ensure stability, the case loader of the system grabs the case holding the battery rather than the battery itself. The system’s controller manages the servo motors of the loader and the sliding mechanism through half-duplex communication. Since the controller operates on ROS (Robot Operating System), it can readily swap batteries for any mobile robots running ROS and using batteries of the same size.