Design guidelines for power assist robots for lifting heavy objects considering weight perception, grasp differences and worst-cases
by S.M. Mizanoor Rahman, Ryojun Ikeura, Soichiro Hayakawa, Hideki Sawai
International Journal of Mechatronics and Automation (IJMA), Vol. 1, No. 1, 2011

Abstract: This paper presents design guidelines for power assist robots for lifting heavy objects in industries. A 1-DOF power assist robot system was developed and human's weight perception was included in the dynamics and control. The robot system was simulated and subjects lifted objects of different sizes with the robot under three distinct lifting schemes – unimanual, bimanual and cooperative lift in usual working conditions. Then the subjects lifted objects with the robot in some worst-cases (unusual working conditions). Weight perception, load forces and object's motions in both usual and worst-cases were analysed and the findings were compared to each other. A novel control was applied to reduce excessive load forces in both usual and worst-cases that improved the system performances. The findings were then proposed as design guidelines to develop power assist robots for lifting heavy objects in industries such as manufacturing and assembly, mining, construction, forestry, agriculture, transport and logistics, etc.

Online publication date: Tue, 22-Mar-2011

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com