Research On A Wearable Handling Assist Robot

As a branch of the exoskeleton robot,the wearable handling robot is a device arranged along the outside of the human body to provide additional assistance to the user.It has important applications in many fields,such as military,medical aid and earthquake relief.Especially in the aging period,the number of nursing workers who undertake the carrying work of elderly bedridden patients can not meet the social needs.But the carrying assistance robot can reduce its working intensity and improve work efficiency.Based on this,this paper puts forward a new design concept for the wearable handling robot after analyzing the current research status of the exoskeleton handling robot and combining with the previous research content.A corresponding experimental prototype of the wearable handling robot was designed and made and its simulation and experiment were carried out.The main work and achievements of this paper are as follows:(1)The mechanical design scheme of the wearable handling assistance robot is proposed after analyzing the degree of freedom of the human upper limb and combining with the common handling posture of the human body.The main components are: random balancing manipulator arm,self-locking elbow joint,well(Chinese character)shape slide rail,and telescopic supporting casters.The parameters of the robot were designed according to the size of the human body and the height of the standard hospital bed.(2)Based on ADAMS,kinematics and dynamics simulation of the human-machine integration model established by CREO were carried out.The kinematics simulation includes:the motion Angle of the shoulder joint of the manipulator arm,the position relationship between the center of gravity of the weight and the supporting casters.Dynamics analysis includes: assistant cylinder output force changes in the process of lifting heavy load,retractable casters motor torque.(3)The experimental prototype of the wearable handlinging assistance robot are made and the pneumatic system and control system of the robot are introduced in this paper.The real-time control system based on MATLAB /RTW environment is developed while the control strategy of the robot is improved.Finally,the key pneumatic components,acquisition card and sensor are selected.(4)Based on the biomechanical analysis,the robot was evaluated by ergonomics.It is verified that the robot can effectively reduce the labor intensity of human body through the comparison of the force of human back muscles and lumbosacral joints before and after wearing the robot when bending over to carry.(5)The whole performance of the wearable handling robot was experimented.Firstly,the feasibility of the design scheme is proved through the motion range test of the manipulator arm and supporting casters.Then the results show that the robot has a large load-bearing capacity,but also can transfer the carrying weight to the ground through the load-bearing experiment of different gradient weights.