A Scalable Low-Cost Automated Storage & Retrieval System

The purpose of this work is the design and the development of a low cost automated storage and retrieval system (AS/RS) appropriate for small and medium size companies. A market research was first carried out and existing systems were analyzed to determine the specifications of the new AS/RS. The motion of the system is based on three AC motors one for each direction of motion X, Y and Z controlled through a PLC. The control of X and Y motors along the length and the height of a row of shelves, respectively, is done with an inverter and an incremental encoder. The control software and the human machine interface have been designed in such a way that they can be customized according to the existing ERP. A prototype of a shelf system has been built and a demo version of the proposed AS/RS has been constructed. Preliminary testing of the system has been carried out with satisfactory results.