Mechanism and Control of a Dynamic Lifting Robot

This paper focuses on a new approach to robot design and control for dealing with heavy loads. Referring to human dynamic motion, we studied dynamic task strategies to create large forces by dynamically moving the internal body. Much greater force can be obtained by this technique than the traditional quasi-static technique. Kinematic and dynamic behavior of human and robot is analyzed with dynamic lifting of a heavy weight. The dynamic trajectory of the internal body motion as well as one for the end effector motion are optimized by parametric representation of dynamic task performance. A prototype robot is designed, constructed and tested. Experiments demonstrate the feasibility and effectiveness of the dynamic task strategies.