Conceptual Design Of Prototype For Intelligent Assistant Robot

The intelligent assistant robot mainly aims at helping the aged and the disabled who are weak-eyed, blind, or have difficulty walking, and its main target is to assist in walking for those people during their daily life and work time. The assistant robot can not only be widely used in hospitals and nursing home, but also can be used for the rehabilitation equipment for the aged and disabled. The thesis does research on the disadvantages of the assistant robot at home and abroad at present, which is usually overweighted, with low carrying capacity, unable to walk in both indoor and outside environment, and expensive in auxiliary navigation system. A conveniently portable prototype for assistant robot is designed which can be used in both inside and outside environment, its mainly content includes mechanism design and kinematics analysis.Firstly, the thesis reviews and summarizes the research history and development status of assistant robot, and does analysis and comparison mainly on assistant robot at home and abroad.Secondly, the research target of assistant robot is analyzed, and the overall design scheme of prototype is discussed and confirmed. The features of mechanism design of robot and the choice on components of modules are researched as a whole. According to the requirements of work environment, carrying capacity, Using Modern mechanical design method and making comparison on advantages and disadvantages of variable transmission methods, the mechanism of assistant robot is designed by Pro/E, and the design of robot is started from the chassis mechanism which is from the bottom up independently.Thirdly, the kinematics model of the robot on the flat surface is established, and the conditions to realize 3 forms of motion are discussed under the model. Also, the effect of gear transmission on kinematics model is discussed and the measures to improve motion precision are made.Lastly, the hardware structure of prototype is introduced, which mainly includes the control and drive units, pulse sensor, GPS receiver, RFID Reader, Laser sensor and etc. The hardware supports the intelligentization of the prototype of assistant robot.