南京航空航天大学学报（英文版）2023，Vol.40Issue(6)：727-737,11.DOI:10.16356/j.1005-1120.2023.06.009
过顶作业外肢体机器人结构设计与补偿控制研究
Structural Design and Compensation Control of Supernumerary Robotic Limbs for Overhead Work
摘要
Abstract
In order to reduce operator fatigue and accelerate aircraft cabin assembly,supernumerary robotic limbs(SRLs)are developed for overhead work in cabin assembly task.The SRLs assist workers in supporting the ceiling to achieve single-person operation via dual three-degree-of-freedom robotic limbs,which are mounted on the human shoulder.The proposed robot can replace the original two-person operation mode,which reduces labor costs and avoids the burden of supporting tasks on workers.A flexible saddle-liked wearable backpack and a flexible end-effector are designed to improve the wearing comfort and environmental adaptability.At the same time,to ensure the safety of human-robot collaboration,the SRLs are designed to address the issues by sensor detection,tendon-driven decoupling mode selection and motion parameter limitation.Moreover,a position compensation control algorithm is designed based on the ergonomic kinematics model to avoid the interference caused by human perturbation.A force compensation control algorithm is designed based on the admittance control principle to improve the operational stability.Experimental results show that the proposed position algorithm reduces the end position error by more than 74%,compared with the original error.The proposed force algorithm can control the single robotic limb of the SRLs to output target force of 5 N for meeting the requirement.关键词
外肢体机器人/结构设计/绳驱动/位置补偿/导纳控制Key words
supernumerary robotic limbs/structural design/tendon-driven/position compensation/admittance control分类
信息技术与安全科学引用本文复制引用
刘珂铭,陈柏,徐嘉骏,蒋素荣,刘德斌,常天佐,白东明..过顶作业外肢体机器人结构设计与补偿控制研究[J].南京航空航天大学学报（英文版）,2023,40(6):727-737,11.基金项目
This work was supported by the Fun-damental Research Funds for the Central Universities(Nos.NP2022304,U22A20204),and the National Natural Sci-ence Foundation of China(Nos.52105103,52205018). （Nos.NP2022304,U22A20204）
