Abstract
In this paper the assist-handle for manual conveyance of flexible parts and its semi-active operation assist controller are simultaneously designed by using nonlinear programming. The assist-handle consists of a variable damper and a mechanical spring. The variable damper and the mechanical spring are connected in parallel. The assist-handle can be attached to a general hand cart, through which a human operates the hand cart. In order to suppress the vibration of the flexible part, the operating force is shaped by changing the viscosity of variable damper. The semi-active operation assist control is designed by using the bilinear optimal control theory. The effectiveness of the assist-handle and the semi-active operation assist control are verified by simulations. Moreover the structure of the assist-handle is designed. On the basis of the obtained optimal parameters, the specifications of the components of the assist-handle are decided.
