可折叠机器人手臂的设计与实验评价:FRAHI

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI:10.1109/RO-MAN50785.2021.9515456

Bhivraj Suthar, Y. Choi, Seul Jung

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引用次数: 3

摘要

本文提出了一种辅助臂的新概念，用于与工人在墙上安装薄板时的协同任务。采用剪刀式结构的可折叠机械臂是一种人机协作的新概念。设计了可折叠可穿戴的FRAHI手臂，以影响协作性和工人的安全。FRAHI手臂被开发并集成了工人的安全服，并为手臂和工人界面引入了柔软灵活的腰带，使用户在工作时感到舒适。FRAHI的设计原则是基于折叠能力，重力补偿与工人合作安装薄板。通过薄板壁挂式辅助臂的实验论证，验证了辅助臂在建筑施工中辅助与协作的可行性。

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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Design and Experimental Evaluation of Foldable Robot Arms for a Holding and Installation Work: FRAHI

This paper presents a new concept of supplementary arms for the collaborative task with a worker during a thin panel installation on the wall. Foldable robot arms for holding and installation (FRAHI) using scissor structure have been proposed as a new concept of the human-robot collaboration. The foldable and wearable FRAHI arm has been designed to influence cooperativeness and worker safety. FRAHI arms are developed and integrated with a worker's safety suit, and a soft and flexible waist belt is introduced for the arms and worker interface, comfortable to the user while working. The design principle of FRAHI is based on folding capability, gravity compensation for the cooperative thin-panel installation with workers. The experimental demonstration of a thin panel installation on the wall has been performed for the feasibility of the supplementary arm for worker assistance and cooperativeness in construction works.

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来源期刊

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)

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