气动自平衡式可穿戴搬运助力机器人的开发  

Development of Novel Pneumatic Balance Wearable Handling Assist Robot

作　　者：吴海帆[1] 张宪[1] 周桢[1] 王营[1] 郑伟昌[1] WU Haifan ZHANG Xian ZHOU Zhen WANG Ying ZHENG Weichang(School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机械制造与自动化》2017年第1期153-155,共3页Machine Building & Automation

基　　金：国家自然科学基金(60875063);教育部留学回国人员科研启动基金资助项目

摘　　要：开发了一种新型的气动自平衡式可穿戴搬运助力机器人。机器人采用了重物自平衡机构,使气缸的支持力与重物能在任意位置维持力平衡,人只需要很小的力就能操纵所搬运的重物沿任意方向自由移动。该机器人具有结构轻便、控制系统简单、穿戴方便、助力大、便于操控的特点。为了验证机器人的原理,制作出了机器人样机,并进行了不同载荷条件下的搬运实验。实验结果证明了该设计具有可行性和实用性。In this paper, a novel pneumatic balance wearable handling assist robot is developed. The robot is equipped with the bal- ance mechanism which can be used to make the assist force from the pnematic cylinder keep the balance with the handling weight at any and all positions, thus moving the handling weight to all directions with little force. The robot is characteristic of light structure, simple oonrtol system, portability, large assist force and easy wear and operation. In order to verify the principle of the robot, a robot prototype is made, and its handling experiments in several loading conditions are done. The experimental results prove that the robot is feasible and usable.

关 键 词：气动 可穿戴机器人 平衡机构 搬运助力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]