新型可穿戴气动自平衡式搬运助力机器人的研究  

Research on a new wearable pneumatic self-balancing handling assist robot

作　　者：李恩赐 吴海帆[1] 王汝鑫 朱广亚 韩平吉 张洪凯 盛勇 Li Enci;Wu Haifan;Wang Ruxin;Zhu Guangya;Han Pingji;Zhang Hongkai;Sheng Yong(College of Mechanical Engineering,Dalian University of Technology,Liaoning 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：《机械设计与制造工程》2025年第3期43-47,共5页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(60875063)。

摘　　要：针对人口老龄化家庭护理搬运助力的迫切需求,以及护理人员难以独自搬运转移卧床患者,并在搬运过程中存在劳动强度大、效率低以及安全性等问题,开发了一种新型可穿戴气动自平衡式搬运助力机器人来辅助护理人员安全高效地完成搬运工作。根据随遇平衡原理建立了机器人力学模型,通过气动助力的方案确定串联机构的合理结构,采用MATLAB函数和PCI-1710数据采集卡优化了控制策略。对该机器人的搬运助力效果进行分析,制作了实验样机,在不同载荷下进行了搬运助力实验,通过实验验证了机器人气动搬运助力策略的有效性与合理性。In view of the urgent needs of the aging population and family care transport assistance,as well as the difficulty of nursing staff to carry and transfer bedridden patients alone,the problems of high labor intensity,low efficiency and safety in the handling process,a new wearable pneumatic self-balancing handling assist robot is developed to assist nursing staff to complete the handling work safely and efficiently.According to the principle of random balance,the mechanical model of the robot is established,the reasonable structure of the tandem mechanism is determined by the pneumatically assisted scheme,and the control strategy is optimized by using MATLAB function and PCI-1710 data acquisition card.The handling assistance effect of the robot is analyzed and calculated,a test prototype is made,the handling assistance experiment under different loads is carried out,and the effectiveness and rationality of the robot's pneumatic handling assistance strategy are verified by human experiments.

关 键 词：可穿戴机器人 搬运助力 气动 自平衡 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]