| With the development of science and technology, the application of robots is becoming more and more widely. They are used not only in automobile industries, but also in our daily lives, and show advantage gradually. The nursing robots are designed and made for amputated or critical patients and can work both in sickrooms and in households instead of paramedics. The Robot Research Center of JiangsuUniversity developed a new type nursing robots based on dual parallelogram. According to the structure characteristics and motion rules of the new type nursing robot, the close loop control system of this new type nursing robot is designed and made with the virtual instrument developing softwareLabWindows/CVI, MCU, piezoelectric ultrasonic motor and high precision optical incremental encoder, which can make the robot reset and rotate by the predefined tracks. At the same time, in order to make the nursing robots used more widely where intensity, precision and price are not high, another control system is designed with the step motor, virtual instrument developing software LabWindows/CVI, multi-function DAQ card PCI1711, linear power amplifier. In order to use the nursing robots in acupuncture therapy, a simple finger is designed. The control system is developed by LabWindows/CVI, smart material driver----cascading piezoelectric driver, realizing snatching and turning the needles.We have experimented on our control systems for several times. The control system based on ultrasonic motor has the flexible and compact structure. It can run in low speed with big moment and resist electromagnetic interference. Therefore, this system can satisfy the high precision nursing fields. The control system based on step motor can satisfy the demand where the load changes great suddenly and the precision is not very high. The control system based on piezoelectricity can be used in acupuncture therapy in the future. All the control system can work stably and effectively and get the expected effects. |
PDF Full Text Request