The Seat Robot Design And Simulation With Computer

The seat robot is automatic device which is convenient to the handicapped and stretches their activity and working ability, for example, it helps the handicapped step upstairs or downstairs without anyone company.The thesis researches the mechanic of the seat robot and realizes its virtual sample design. At first, its mechanic transmission system is designed and calculated, the parameters of the key parts of the gear drive and chain drive is made certain ,the simulated model of the all parts three-dimensional entity is set up utilizing SOLIDWORKS software and the parts from internal to overall is optimized. Then, the stress and strain of the key parts is analyzed using the COSMOSWORKS software of SOLIDWORKS and the unreasonable factor is found. Thus, the structural parameters and the craft parameters is amended and the liability and security is assured. Last, the simulated model of the seat robot is set up according to the parts entity using the reassembled function. After the virtual reassemble, the part is intervene whether or not, the position and reassembled relation is reasonable or not and the overall structure is looked beautiful or not.The mathematical model of the control system of the seat robot is also set up in the thesis. And the simulated model of the control system is set up according to the mathematical model. Then, the control system is simulated, analyzed and designed. First ,the mathematical model and simulated model of the control system is set up. First, through the white box modeling way, the physical description of the system is done and the mathematical model is set up. The transfer function is set up through Laplace transformation. Then, time response of the control system is analyzed under the unit step signal in the Control System Toolbox which is provided by the famous simulated and analyzed software—MATLAB, the dynamic characteristic of the system is analyzed during transition and is optimized after found its shortage. According to the analysis of the frequency response, the dynamic characteristic during the stable state of the system. Using the SISOTOOL, polar coordinate chart (Nyquist chart) and logarithmic plot(Bode plot), phase-frequency characteristic and amplitude-frequency characteristic of the system is analyzed. The system is optimized through gain of compensated governor, adjusting bandwidth, adding integrator, adding anticipatory control net and movingpolar point of compensator. Last, the optimized simulated model is obtained.In a word, through the mechanic structure virtual sample design and the stress and strain analysis, the pro-design some craft and structural parameters of any parts is amended, and the design is more liable ,safer and more economical. Through set up the simulated model of the control system, any problem which is not noticed during the design is found, and the theoretical source of the problem that appears during design and can not settle.The project is designed for Gansu mechanical academe.