Horizontal automated storage and retrieval system

This article describes an innovative automated storage and retrieval system (AS/RS) based on Raspberry Pi. It substantiates the grounds of the undertaken subject and presents an overview of existing automated storage and retrieval solutions. Moreover, the machine is described in terms of type and structure of, following the analysis of the kinematics and dynamics, conducted as a part of the project. The article presents the mechanical design of the machine, describes the choice of structural elements and actuators, and develops the control system with an algorithm using Raspberry Pi. Furthermore, an interface based on a touch-screen display cooperating with a single board computer was designed. One of the key features of the device is its modularity and the individual configurability of the storage module, depending on available storage space where an automated storage and retrieval system is to be installed: vertically - by defining the number of containers in width and height, horizontally - by defining the number of containers in width and depth, horizontally and vertically - by defining the number of containers in width and depth, and modules responsible for storage in height. The final stage of the project consisted in verifying the designed solution in tests on a prototype storage device. More precisely, it was tested on a machine prepared for a particular customer and a chosen configuration, which is a combination of the triune manipulator of vertical storage controlled in an open loop.