Research on the Optimization Method of Arm Movement in the Assembly Workshop Based on Ergonomics

1st International Workshop on Materials Science and Mechanical Engineering

材料科学;机械制造

Hu, X.M.^1 ; Qu, H.W.^1 ; Xu, H.J.^1 ; Yang, L.^1 ; Yu, C.C.^1

Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Mailbox 232, No. 149 yanchang Road, Shanghai

200072, China^1

关键词: Assembly workshop;    Evaluation function;    Kinematics equation;    Multi-rigid-body;    Optimization algorithms;    Optimization method;    Solution methods;    Work efficiency;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/281/1/012053/pdf
DOI  :  10.1088/1757-899X/281/1/012053

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In order to improve the work efficiency and comfortability, Ergonomics is used to research the work of the operator in the assembly workshop. An optimization algorithm of arm movement in the assembly workshop is proposed. In the algorithm, a mathematical model of arm movement is established based on multi rigid body movement model and D-H method. The solution of inverse kinematics equation on arm movement is solved through kinematics theory. The evaluation functions of each joint movement and the whole arm movement are given based on the comfortability of human body joint. The solution method of the optimal arm movement posture based on the evaluation functions is described. The software CATIA is used to verify that the optimal arm movement posture is valid in an example and the experimental result show the effectiveness of the algorithm.