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

为了提高航空装配的效率,开发了一种外肢体机器人用于飞机舱内的过顶作业。外肢体机器人(Supernumerary robotic limbs,SRLs)通过安装在人类肩膀上的三自由度机械臂,协助工人支撑天花板,实现单人作业,这种方法取代了原来的双人作业模式,降低了劳动成本,减少了工人的负担。为提升穿戴舒适性与环境适应性,分别设计了柔性鞍座与柔性末端执行器;同时,通过3种手段实现人机系统的安全性,包括设计碰撞检测外壳、选择套索传动的绳驱动解耦方式和限制关节转角。针对辅助过顶支撑作业中动基座问题对外肢体位置/力控制造成的干扰,构建了人机共融运动学模型,基于此设计了位置补偿控制算法,同时基于导纳控制原理设计了力补偿控制算法。实验测试结果表明,所设计的位置补偿算法使末端位置误差较原始误差减小74%以上,力控补偿算法可控制外肢体单臂以5 N的目标力恒定输出,满足其作业需求。

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.