The experiments of wearable robot for carrying heavy-weight objects of shipbuilding works

摘要

The purpose of this research is to assess an applicability of wearable robot for the shipbuilding works. We developed two types of wearable robot that can be separated by actuation mechanism; one is directly actuated by electric motors and another is actuated by electro-hydraulic actuators. The lifting capacity of both of the robot is currently about 30kg. We performed field tests in 7 kinds of workplaces for handling and installing heavy-weight objects such as pipeline outfitting components, small metal components, and heat insulation box for two weeks. We focused on whether the wearable robot is applicable to rough and tough shipbuilding environments which include bumpy and sloped metal terrain, steep and narrow staircase, longitudinal stiffener. From the experimental result we verified that the wearable robot could be helpful for assisting workers in several shipbuilding workplaces. We also assessed what should be improved for the application based on the worker's requirements.