SCALA: Scalable Modular Rail based Multi-agent Robotic System for Fine Manipulation over Large Workspaces

Current industrial fabrication and automation systems are faced with the challenge of obtaining great accuracy and fine manipulation over a large workspace. In this article, SCALA, a novel framework for robots that move on modular ad-hoc dedicated rails is presented. The goal is to have several agents moving simultaneously and rapidly on these scaffolds, with excellent positional accuracy. Such modular rails can be used to form 2D or 3D scaffolds that can be installed vertically and horizontally. The pros and cons of each of the designs are discussed, and some early stage prototypes are developed for validation purposes. The final prototype is demonstrated passing a junction in vertical, horizontal and hang-down scenarios.