防肌肉疲劳双臂机器人人机协同基础研究

项目名称： 防肌肉疲劳双臂机器人人机协同基础研究

项目编号： No.51505151

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 黄沿江

作者单位： 华南理工大学

项目金额： 20万元

中文摘要： 针对如何预防人类协作者在与双臂机器人协同作业过程中的手臂肌肉疲劳问题，申请人提出了一种基于肌肉疲劳预测模型的双臂机器人人机协同自适应调节作业频幅、作业时间的方法。项目以双臂机器人在柔性装配中的人机协同作业为对象，首先，研究人机协同作业频幅、作业时间对手臂肌肉疲劳的影响，建立肌肉疲劳预测模型；其次，基于智能穿戴技术与无线通信技术研究双臂机器人对肌肉疲劳信息的获取与融合；再次，研究基于肌肉疲劳信息的人机协同作业频幅、作业时间的自适应调节模型与方法；最后，通过仿真和实验对肌肉疲劳预测模型、人机交互方法、人机协同自适应调节模型及方法进行验证和评价。该项目研究将实现无过度肌肉疲劳的双臂机器人人机协同作业，为人机协同作业系统的设计和工业4.0智能生产的研究提供理论支持与实验方法，具有重要的理论意义和应用价值。

中文关键词： 双臂机器人；人机协同；肌肉疲劳

英文摘要： For the problem of preventing muscle fatigue during the human dual-arm robot collaboration, we propose a method for a human dual-arm robot system to adaptively adjust working frequency/amplitude and working time based on a muscle fatigue estimation model. A human dual-arm robot collaboration system which is applied to flexible assembly tasks is studied in this research. Firstly, we study the influence of working frequency/amplitude and working time to the muscle fatigue and develop the muscle fatigue estimation model. Secondly, we study the way that the dual-arm robot receives and fuses the muscle fatigue based on intelligent wearable technology and wireless communication technology. Thirdly, we study the adaptive model and method to adjust working frequency/amplitude and working time based on the muscle fatigue. Finally, a simulation and an experiment are conducted to evaluate and verify the effectiveness of the proposed muscle fatigue estimation model, human-robot interaction method, and human-robot collaboration model. This study can realize the human dual-arm robot collaboration without excessive muscle fatigue. It has theoretical significance and application value for the design of human-robot collaboration system and the intelligent manufacturing in industrial 4.0.

英文关键词： dual-arm robot;human-robot collaboration;muscle fatigue