Development Of Hedge Pruning Robot Based On Exoskeleton

At present,the number of elderly people in China has ranked first in the world,and China is rapidly entering an aging society.Along with the rapid increase in labor costs,the number of first-line laborers in the traditional industries represented by the processing industry has been declining year by year.The phenomenon of ?difficult recruitment and hard work? has occurred from time to time.Urban greening is a business card for the development of urbanization.The pruning and styling of hedgerows as a regular work in urban greening,the traditional method of manpower alone is not only inefficient,labor intensive,but also because of the hand-held hedge The weight,noise and other problems of the machine are easy to cause damage to the worker's body.At the same time,young people generally have a certain prejudice against the work of green maintenance,cleaning and cleaning,and are unwilling to engage in such work.Most of the workers are elderly people.In order to solve the social problem of labor shortage,the state has issued strategic emerging industry policies such as ?Made in China 2025?,and the intelligent service robot industry has ushered in an important development opportunity.Exoskeleton robots are a kind of service robots that have emerged in recent years.They have the advantages of being directly wearable,flexible,and labor-saving.It combines the intelligence of the wearer with the power of the machine,and is dominated by the human movement intention.The robot can respond quickly and accurately to the movement of the human body,providing support and assistance to the user.This topic proposes to develop an exoskeleton hedge trimming robot that can greatly reduce the labor intensity,improve work efficiency and adaptability of workers.This is not only in line with the national industrial technology policy,but also an urgent need for new urbanization construction and has a good development prospects.This topic firstly analyzes the development status of hedge trimming equipment and exoskeleton robots at home and abroad,and designs the research route and method based on the summarized mainstream research methods and common problems in the world.Secondly,the actual greening work is selected.The typical pruning method is to obtain the motion mode of the robot in the corresponding trimming posture.Based on the number of joint degrees of freedom and the maximum range of motion,8 active drive joints and 4 passive joints are designed.The robot body structure with degrees of freedom;thirdly,the working load in the actual hedge trimming operation is determined through experiments,and according to the working video of the test process,the different motion modes of the robot work are divided,and the human-computer interaction in motion is extracted.The force signal corresponds to the posture state of the human body in different modes,and the action division strategy is formulated.Fourthly,the position,velocity,force and torque information of the dynamic processes of the joints of the robot are determined through the modeling and analysis of the exoskeleton kinematics dynamics.To determine the performance of the drive required by the joint;The follow-up control strategy of the exoskeleton robot was taken,and the first prototype of the processing and assembly was debugged and tested,and the different motion modes of the robot were verified.