Structure Design And Tunable Parameter Control Method Of Meal-assisting Robot

In recent years,the problem of an increasingly aging population has received great attention in our country,and the number of disabled people in our country has also been increasing.In order to help the elderly with mobility impairments and the disabled with limited eating activities complete the meal action,this topic has designed a meal-assisting robot,researched and completed the motion trajectory planning of the robotic arm,and developed a robot control system.By analyzing the research status of meal-assisting robots at home and abroad,such as structural design,human-computer interaction,and safety issues,the overall plan of the structure design and control system of the meal-assisting robot in this subject is determined.Through the design of the spoon and plate structure of the meal-assisting robot,the mechanical arm can take all the objects in the plate only according to a fixed trajectory plan,which effectively reduces the degree of freedom of the mechanical arm,thereby reducing the control accuracy requirements and reducing the overall cost of the robot.An adjustable parameter system is designed,in which parameters such as meal delivery mode,delivery location,delivery stay time,and plate movement form can be adjusted,which can adapt to users' different heights,eating habits,and working environments.By using SOLIDWORKS software,a three-dimensional model of the structure of the meal-assisting robot is established.The meal-assisting robot is composed of three moving plates,a lifting base and a four-degree-of-freedom mechanical arm with a spoon.The ergonomic knowledge is used to determine the delivery position of the robotic arm,and then the relevant parameters of the robotic arm are determined by using the Sim Mechanics toolbox in the MATLAB software to simulate and analyze the workspace of the robotic arm.Designed a small size,light weight,less degree of freedom in series connection,and can well complete the meal-assisting robot structure.The D-H parameter method is used to complete the forward kinematics analysis of the manipulator,and the geometric method is used to complete the inverse kinematics analysis of the manipulator.The meal assistance movement is decomposed into three parts:the meal taking movement,the meal delivery movement and the resetting movement,and the nodes of the movement path are studied.Based on the results of kinematics analysis,the robotics toolbox of MATLAB software is used to plan the trajectory of each part of the movement respectively.Finally,the Motion plug-in in SOLIDWORKS software was used to verify that the trajectory planning results were reasonable,and at the same time,three steering gear moments of the robotic arm were determined.The control system of the meal-assisting robot is researched,and the hardware of the control system is designed with STM32 single-chip microcomputer to centrally control human-computer interaction,safety,manipulator movement,dinner plate movement,lifting base and other modules.The control system program is designed based on the development environment of MDK software.The program for setting parameters using the TFTLCD touch screen is designed and completed.The program for using the serial port signal to control the steering gear drive board and then control the movement of the robotic arm is designed and completed.Based on the dinner plate motion control program based on timer PWM output,the base lifting program based on timer and ADC collection is designed and completed.