本研究著重於高負載、高擴充性與高精準度的自主移動機器人之開發與建造，整合KUKA KR70系列機械手臂於1.7m寬、2.1m長的機器人底盤上，旨在減少大型加工廠的人力需求。該機器人底盤搭載了4組3,700W無刷電機與麥克納姆輪，以提供機器人全方向運作能力，可在狹小空間內運動。在設計階段使用了有限元素法（Finite Element Method）分析機器人的負載。結果顯示，在搭載機械手臂下底盤的安全係數大於7.4、無刷馬達傳動軸的安全係數大於3.6。機器人上設計有置物平台供放置搬運物品，有限元素法分析該結構能夠承受200公斤的外部負載。本研究中所使用的電路系統透過轉接板與車體上標準化的孔位接合，使升級或更換機器人零件更為容易。
機器人軟體核心使用機器人作業系統（Robot Operating System, ROS），在ROS系統的基礎上進行無刷馬達、機械手臂與感測器整合，使機電系統能透過工業電腦命令控制。為驗證本論文中機器人平台與感測器的開放性與易用性，透過使用擴展卡爾曼濾波器（Extended Kalman Filter），將光達（Light Detection And Ranging, LiDAR）與慣性量測單元（Inertial Measurement Unit, IMU）資訊進行融合，從而達到機器人定位精度1公分與偏航角精度0.001弳度的估測。

This research focuses on building a high-payload autonomous mobile robot having the following characteristics: high-payload, high-expandability and high-precision. The system integrates a high-payload KUKA robotic arm with 70 kg payload in a 1.7 m wide, 2.1 m length mild-carbon steel chassis. This mobile robot is powered by 4 brushless motors with mecanum wheels, providing omnidirectional moving capability. In this paper, we use finite element method (FEA) analysis software to analyze the chassis and the platform in high-payload condition. The FEA result shows the chassis has a safety factor larger than 7.4; the transmission shaft has a safety larger than 3.6. The storage platform can sustain weight higher than 200 kg. In order to accomplish high-expandability, the electrical components are connected to the chassis via transfer plate.
In this research we integrate hardware components to ROS (robot operating system). The KUKA robotic arm interface is combined with the ROS system to perform remote control. All of the sensors streaming and motor control are accomplished in ROS. To testify the sensor integration and usability of sensor fusion, we've performed an extended Kalman filter algorithm in the ROS system, by fusing LiDAR and IMU data to estimate localization and robot pose. Resulting 1 cm error in positioning and error of 0.001 rad in robot pose estimation.

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