Transactions of Nanjing University of Aeronautics & Astronautics
Structural Design and Compensation Control of Supernumerary Robotic Limbs for Overhead Work
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Abstract:
In order to reduce operator fatigue and accelerate aircraft cabin assembly， supernumerary robotic limbs （SRLs） are developed for overhead work in cabin assembly task. The SRLs assist workers in supporting the ceiling to achieve single-person operation via dual three-degree-of-freedom robotic limbs， which are mounted on the human shoulder. The proposed robot can replace the original two-person operation mode， which reduces labor costs and avoids the burden of supporting tasks on workers. A flexible saddle-liked wearable backpack and a flexible end-effector are designed to improve the wearing comfort and environmental adaptability. At the same time， to ensure the safety of human-robot collaboration， the SRLs are designed to address the issues by sensor detection， tendon-driven decoupling mode selection and motion parameter limitation. Moreover， a position compensation control algorithm is designed based on the ergonomic kinematics model to avoid the interference caused by human perturbation. A force compensation control algorithm is designed based on the admittance control principle to improve the operational stability. Experimental results show that the proposed position algorithm reduces the end position error by more than 74%， compared with the original error. The proposed force algorithm can control the single robotic limb of the SRLs to output target force of 5 N for meeting the requirement.
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Project Supported:
This work was supported by the Fundamental Research Funds for the Central Universities （Nos. NP2022304， U22A20204）， and the National Natural Science Foundation of China （Nos.52105103， 52205018）.
Clc Number:
TP242.3
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