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Study on optimum maneuverability in horizontal manipulation of objects with power-assist based on weight perception

机译:基于重量感知的助力水平操纵物体最佳操纵性能研究

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This paper presents the design of a 1-DOF (horizontal forward-backward translational motion) power assist system (PAS) for manipulating objects in horizontal direction based on human operator's perception of object weight. We adopt a hypothesis that pertains to human's weight perception. The hypothesis means that the human must consider the mass parameter for the inertial force different from the mass parameter for the gravitational force when programming (feedforward) the load force (tangential to grip surfaces) for manipulating an object with a PAS because the perception and the reality regarding the object weight are different in this case. We simulated the system using Matlab/Simulink. Five subjects manipulated objects of three different sizes with the PAS during the simulation. Subjects subjectively determined the optimum values for the mass parameters of the inertial and the gravitational force components. Optimum mass parameters resulted in optimum maneuverability. Finally, we proposed using the findings to develop human-friendly PASs for manipulating heavy objects in industries such as manufacturing and assembly, mining, logistics and transport, construction, disaster management, military operations etc.
机译:本文介绍了一种基于操作员对物体重量的感知的水平方向上操纵物体的1-DOF(水平向前-向后平移运动)动力辅助系统(PAS)的设计。我们采用与人类体重感知有关的假设。该假设意味着,在编程(前馈)用于使用PAS操纵物体的负载力(切向于抓握表面)时,人类必须考虑惯性力的质量参数与重力的质量参数不同。在这种情况下,有关物体重量的实际情况有所不同。我们使用Matlab / Simulink对系统进行了仿真。在模拟过程中,五名受试者使用PAS操纵了三种不同大小的物体。受试者主观确定惯性和重力分量的质量参数的最佳值。最佳质量参数可实现最佳机动性。最后,我们建议利用这些发现来开发对人类友好的PAS,以操纵制造和装配,采矿,物流和运输,建筑,灾害管理,军事行动等行业中的重物。

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