Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs

摘要

In these days, most of construction workers become aging and tasks have been complicated as construction technology developed. To supplement this trend, many of attempts have been done to automate construction process and replace roles of workers in dangerous situations. Also, diverse methods have been tried to help workers for efficiency enhancement. This paper deals with supernumerary robotic limbs for helping ceiling work near the worker. Supernumerary robotic limbs can alternate simple tasks like holding objects at ceiling. To optimize the structure, work scenario is determined and hardware is constructed based on the scenario. Wearable shoulder mount is designed not to obstruct movement of worker and its structure is described. Manipulator links length are selected by considering workspace and its procedure is shown. The control algorithm pursing cooperation with worker is represented.