气动自平衡式可穿戴搬运助力机器人的开发

摘要

In this paper,a novel pneumatic balance wearable handling assist robot is developed.The robot is equipped with the balance 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 conrtol 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.%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.