A Friendly Beast of Burden A Human-Assistive Robot for Handling Large Payloads

被引：47

作者：

Gosselin, Clement ^{[1
]}

Laliberte, Thierry ^{[1
]}

Mayer-St-Onge, Boris ^{[1
]}

Foucault, Simon ^{[1
]}

Lecours, Alexandre ^{[1
]}

Duchaine, Vincent ^{[1
]}

Paradis, Noemie ^{[1
]}

Gao, Dalong ^{[2
]}

Menassa, Roland ^{[2
]}

机构：

[1] Univ Laval, Dept Mech Engn, Quebec City, PQ, Canada

[2] GM Global Res, Warren, MI USA

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2013年 / 20卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1109/MRA.2013.2283651

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a novel robotic assistive device for the handling of large payloads. The design of the robot is based on the application of the following fundamental mechanical principles: inertia is minimized, a parallel closed-loop cable/belt routing system is used to kinematically decouple the transmission from fixed actuators and to the end-effector, and variable static balancing is used to minimize the actuation forces required for vertical motion. As a result, the device requires only low power, thereby improving safety, and can be operated manually, even in the event of a power failure (with minimum backup power for brake release). A novel force/torque sensor is also introduced along with a control algorithm based on variable admittance that provides a very intuitive interface for physical human-robot cooperation. Finally, a full-scale prototype integrating all of the above concepts is presented. © 1994-2011 IEEE.

引用

页码：139 / 147

页数：9

共 19 条

[11]

Lecours A, 2012, IEEE INT CONF ROBOT, P3903, DOI 10.1109/ICRA.2012.6224586

[12]

Levy N. I, 1985, US Patent, Patent No. 4524520

[13]

Muller J., 1971, US Patent, Patent No. 3611819

[14]

Rogers D. P., 1985, US Patent, Patent No. 4527119

[15]

Schraft RD, 2005, IEEE INT CONF ROBOT, P4074

[16]

Tsumugiwa T, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P644, DOI 10.1109/ROBOT.2002.1013431

[17] HapticMaster - a generic force controlled robot for human interaction [J].

van der Linde, RQ ;

Lammertse, P .

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2003, 30 (06) :515-524

[18]

Villani L., 2008, Springer Handbook of Robotics, P161

[19] A new actuation approach for human friendly robot design [J].

Zinn, M ;

Roth, B ;

Khatib, O ;

Salisbury, JK .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2004, 23 (4-5) :379-398

← 1 2 →