Design Of The Mechanicism And Research On Servo System Of Eating-aid Robot

In this paper, a new kind of the robot, eating-aid robot is designed and studied. The eating-aid robot can help people with disable hands have dinner by realizing the movement of fetching the food and carring the food to the mouth. There are 10 millions limbs-disabled people in China, many of them are disabled with their hands. It is difficult for them to eat without the aid of others. Therefore, it is important for improving patients' living quality to research on eating-aid robot.This paper reviews the development situation of eating-aid robot at home and abroad, and then the total scheme of eating-aid robot was put forward. The robot's mechanical structure scheme and servo control system scheme which used ATmega128L as the core have been designed in this paper.The system quality parameters are acquired by Pro/Engineer—the modeling tool of three-dimension entity, and then the simulation model of motor control system was established in modularization under the MATLAB/Simulink environment. At last, simulation was carried out.The hardware and software of control system of the aid dining robot was designed. The hardware circuits mainly include ATmega128L controlling module and power module etc. The function of ATmega128L controlling module are accomplishing the communications between host computer and slave computer, and producing PWM signals. Power module is used for amplifying the control signal to drive the motors. Based on the C language, the software of embedded controller is also designed, and procedure flow charts are presented.In the end, the prototype of the aid Dining Robot is developed. The program which consists of speed loop and location loop is developed by dSPACE RTI1104 hardware-in-the-loop simulation platform. Moreover, the experiment is carried out. The result indicates that the control system meet the design requriement, have good stability, high controlling accuracy, and well manipulation.