Abstract: Aiming at the problems of low efficiency, high labor intensity (requiring two-person coordination), and high safety risks in the manual handling of large sheet metal parts for the front wall of heavy-duty truck cabs, this paper designs a mobile electrically controlled assist manipulator. Based on CATIA software, a lightweight structural design is completed. Adopting a human-armimitating architecture, an innovative embracing lifting and clamping mechanism is proposed to adapt to irregular surfaces, achieving three-point force application. An integrated lead screw and worm gear reduction system is used to achieve thrust amplification and self-locking upon power failure, combined with a four-wheel mobile system to overcome spatial limitations. Application results show that the manipulator, operated by a single person, can handle the front wall assembly in any direction,eliminating direct contact between the worker and the part, thereby enhancing operational safety and reducing labor costs by 50%. This assist manipulator provides a low-cost, highly flexible solution for handling heavy and irregular sheet metal parts in the automotive manufacturing industry, filling the gap in specialized handling equipment for such components in heavy-duty trucks. It can be promoted to the machinery manufacturing sector, supporting flexible and cleaner production line upgrades.

Key words: assist manipulator; sheet metal parts of heavy-duty trucks; human-robot collaboration; flexible handling; labor intensity

摘要： 文章针对重卡驾驶室前围大型钣金件人工搬运效率低、劳动强度大（需双人协同）、安 全风险高等问题，设计了一种移动式电控助力机械手。基于 CATIA 软件完成轻量化结构设计， 采用仿形人体手臂架构，创新性提出怀抱式托举夹紧机构适配异型面，实现三点受力。集成 丝杠蜗杆减速系统实现推力放大与断电自锁，搭配四轮移动系统突破空间限制。应用结果表 明：该机械手由单人操作完成前围总成任意方向搬运，消除人与零件直接接触，提升作业过 程安全性，人力成本减少 50%。该助力机械手为汽车制造业重型异型钣金件搬运提供了低成 本、高柔性解决方案，填补了重卡异型钣金件专用搬运装备的空白，可推广至机械制造领域， 助力产线柔性化及清洁化升级。

关键词: 助力机械手；重卡钣金件；人机协同；柔性搬运；劳动强度