A new manipulator structure for power‐assist devices

Abstract

Abstract:
\nPurpose – This paper introduces a new manipulator structure to configure power-assist
\ndevices in order to protect operators from musculoskeletal disorders. The
\nmechanical structure and the control system are presented, along with their main
\nfeatures.
\nDesign/methodology/approach – The new structure is designed under the criterion of
\nminimizing the torques required for handling payloads of up to 75 kg in an
\neasily controlled system.
\nFindings – A new structure is provided, based on electrical AC motors and capable of
\nhandling high payloads yet exerting low motor torque.
\nOriginality/value – The application of the criterion of minimizing the required torques
\nto handle he