California AHMCT Program University of California at Davis California Department of Transportation DEVELOPMENT OF A HUMAN-ASSIST NON-STATIONARY DEVICE FOR LIFTING

Abstract

The Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center has been developing robotic equipment and machinery for highway maintenance and construction operations. It is a cooperative venture between the University of California at Davis and the California Department of Transportation (Caltrans). The research and development projects have the goal of increasing safety and efficiency of roadwork operations through the appropriate application of automation solutions. In this report, the development of a human-assist non-stationary device for lifting (HANDL) is presented. Abstract The Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center has been developing robotic equipment and machinery for highway maintenance and construction operations. It is a cooperative venture between the University of California at Davis and the California Department of Transportation (Caltrans). The research and development projects have the goal of increasing safety and efficiency of roadwork operations through the appropriate application of automation solutions. In this report, the development of a human-assist non-stationary device for lifting (HANDL) is presented. The device is designed to handle payloads at or just beyond the threshold of safe human manipulation, such as crates, barrels, guard-rail sections, and sacks of building materials. The machinery consists of two main components: an omnidirectional mobile platform and a grasp and lift manipulator. The former is developed here at the AHMCT Center and the latter is developed in collaboration with Steven's Institute of Technology Department of Mechanical Engineering. An omnidirectional platform allows the operator to drive the vehicle in any direction, instantly. This includes: moving laterally from rest, rotating in place, as well as simultaneous translation and rotation. Key research areas for the development of the platform are: testing the performance limits of the traction drive system and developing a torque-regulated control system. The grasp and lift manipulator is designed to grasp a variety of objects without damage. That is, the goal of the sensors and control system is to maintain contact without crushing the payload. Secondly, the system includes slip detection to sense if the payload is slipping the jaws during transport. To date the two components have been built and tested separately in the laboratory. vii Executive Summary According to the 2002 Liberty Mutual Workplace Safety Index, overexertion accounts for 26.2% of workplace injuries and has cost employers $13.2 Billion in medical care and worker compensation, as presented by Croasmun 2004. Overexertion is defined as injuries caused by excessive lifting, pushing, pulling, holding, carrying, or …

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@inproceedings{Lee2006CaliforniaAP, title={California AHMCT Program University of California at Davis California Department of Transportation DEVELOPMENT OF A HUMAN-ASSIST NON-STATIONARY DEVICE FOR LIFTING}, author={Danny V. Lee and Young Chul Lee and Shujun Lu and Duane A. Bennett and Steven A. Velinsky and Jae H. Chung}, year={2006} }