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Human-like Manipulation Planning for Articulated Manipulator

Journal of Bionic Engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, rapid upper limb assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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Ergonomic and efficiency analysis of conventional apple harvest process

引用

International Journal of Agricultural and Biological Engineering 2019年第2期12卷 210-217页

作者： Zhao Zhang Yuanjie Wang Zhaohua Zhang Dapeng Li Zhengze Wu Rui Bai Guangfu Meng Department of Agricultural and Biological Engineering Pennsylvania State UniversityUniversity ParkPA 16802USA Agricultural Information Institute Chinese Academy of Agricultural SciencesBeijing 100081China College of Economics and Management Shandong Agricultural UniversityTai’an 271018ShandongChina Shanghai Nuclear Engineering Research and Design Institute Shanghai 200233China Jiana Real Estate Development Company Dezhou 253000ShandongChina Huafa Real Estate Development Company Weihai 264200ShandongChina TianJinXi Railway Station China Railway Beijing Group Co.Ltd.Dezhou 253000ShandongChina

Apples are still manually harvested by workers using ladders and *** it is known that manual apple harvest would probably lead to occupational injuries(e.g.,back,neck,and shoulder strains),there has been little research that focuses on identifying the awkward activities/postures of pickers during the harvest *** categorizing apple harvest work into 12 activities,this study used the method of rapid upper limb assessment(RULA)to identify awkward postures/activities that occurred during apple *** activities confirmed include descending a ladder,dumping apples,picking high and low apples on a ladder as well as on the ground,and moving a ladder,with potential reasons for each awkward activity ***,it was demonstrated that pickers spent approximately 64%of working time under awkward postures that would lead to occupational *** addition,this study analyzed picker harvest efficiency in terms of general and detail *** general mode assessed harvest activity in terms of picking and non-picking,with results showing that pickers averagely spent 76%(±7%)of harvest time in picking *** analysis evaluated picking activities in terms of reaching,detaching,and transporting apples,with results showing that pickers spent averagely 30%(±6%)of time in detaching apples,which is the value time during apple ***,valuable picking time ratio was obtained as the multiplication of picking time ratio and detaching time *** a valuable ratio of 22%(±5%),it theoretically demonstrated the low harvest efficiency of the traditional harvest *** a majority of the awkward activities and the low efficiency were because of the ladders/buckets,using a harvest-assist unit may be a potential ***,more efforts should be spent on the development of innovative mechanism to replace worker in placing attached apples to the *** the time for transporting apples is eliminated,the time for r

关键词： rapid upper limb assessment awkward postures apple harvest safety ergonomic analysis harvest efficiency analysis

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