由 ADAMS 系统驱动的可穿戴辅助机器人的机械结构设计

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2024-10-02 DOI:10.1109/ACCESS.2024.3472116

Xiaona Cai

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引用次数: 0

摘要

目前，可穿戴辅助机器人已在许多领域得到广泛研究和应用。针对货物搬运难度大、耗时长的问题，设计了一种利用机械系统自动动态分析的可穿戴辅助机器人。该机器人由机器人操作系统辅助。该机器人利用机器人操作系统辅助机械系统自动动态分析系统，对机器人的机械结构进行了分析和设计。然后通过软件对机器人结构进行仿真分析，探索机器人的实际应用。研究结果表明，机器人空气驱动装置的高度影响了机器人的应用效果。在 0mm 高度时，机器人的角度可达 36.2°，50mm 时为 53.6°，100mm 时为 66.7°。同时，机器人支架的最大力可达 191.5N。在搬运不同的货物时，机器人辅助力的大小也不同。在不同的手臂位置，机器人实际施加的力也不同。不过，机器人的实际结构设计与实际应用效果相符。由此可以得出结论，系统设计的机器人符合实际应用结构，能够实现实际的助力辅助效果。这对辅助机器人的辅助控制和结构分析具有很好的指导意义。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mechanical Structure Design of Wearable Assistive Robot Driven by ADAMS System

Currently wearable assistive robot has been widely researched and applied in many fields. Aiming at the problems of difficult and time-consuming handling of goods, a wearable assistive robot using automatic dynamic analysis of mechanical systems is designed. The robot is assisted by robot operating system. The robot uses robot operating system to assist the automatic dynamic analysis of mechanical systems system, and the mechanical structure of the robot is analyzed and designed. Then the robot structure is simulated and analyzed by the software to explore the practical application of the robot. The results of the study indicated that the height of the robot’s air drive affected the effectiveness of the robot’s application. The angle of the robot could reach 36.2° at 0mm height, 53.6° at 50mm and 66.7° at 100mm. At the same time, the maximum force of the robot’s stand could reach 191.5N. The amount of robot’s assisting force varied in different handling goods. The actual force applied by the robot varied in different arm positions. However, the actual structural design of the robot is in line with the actual application effect. It can be concluded that the robot designed by the system conforms to the actual application structure and can realize the actual booster assistance effect. This is a good guide for the assistive control and structure analysis of the assistive robot.

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

期刊介绍： IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.