NDLI: Supernumerary Robotic Limbs for aircraft fuselage assembly: Body stabilization and guidance by bracing

Content Provider	IEEE Xplore Digital Library
Author	Parietti, F. Asada, H.H.
Copyright Year	2014
Description	Author affiliation: Fac. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA (Asada, H.H.) \|\| Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA (Parietti, F.)
Abstract	A new type of wearable robot that assists the wearer with extra arms secured around the hips is presented. Supernumerary Robotic Limbs (SRL) can hold objects, clamp them to a fixture, guide and support human hands, and assist the wearer in performing a task as a close co-worker. This paper focuses on a class of tasks where SRL physically interacts with the environment through contact. SRL makes contact with a wall and thereby braces the human body against the environment. SRL also guides the human hands by placing a drill jig over the drilling location. Bracing the human body and guiding the hands, SRL can enhance the drilling task stability and accuracy. The SRL technology is applied to aircraft assembly, where conventional industrial robots failed to perform effectively. First, the basic design concept of SRL is summarized, and task strategies using SRL and their functional requirements are described. Kinematic and static properties resulting from the structural closed loops formed around the SRL, the human, and the environment are analyzed, and effective strategies for physical disturbance rejection and fine positioning are discussed. A prototype robotic arm grasps the aircraft fuselage structure. Another robotic arm places a drill jig precisely on the fuselage structure, and guides and stabilizes a hand drill held by the human user. An optimization method is developed in order to identify the SRL kinematic configuration and joint torques that stabilize the drill and at the same time minimize the human workload.
Starting Page	1176
Ending Page	1183
File Size	1408630
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907002
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Force Hip Aircraft Kinematics Assembly Torque
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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