Structure Design And Implementation Of Service Robot

With the development of technology, robots are pervading people's daily lives more and more. Service robot which is one of the focused directions of China's robot technology during The 11th Five-Year Plan has good application value and market prospects. The design of service robot product mainly includes industry design, mechanical systems, hardware systems and software systems. In this paper, the mechanical system is designed and researched, which has the features of low cost, easy implementation and high reliability.By analyzing the market demand and referring to features of other service robot products, design methods with modularized concept and using off-the-shelf parts was proposed. In the first part of detail design, different mobile mechanisms were compared. The forward and inverse kinematics of mechanism driven by differential speed was derived, based on which the required driving force for all possible conditions was analyzed. Then the key parts of the robot body were designed and implemented. Secondly, a more practical and reliable uniform landing mechanism was designed aiming at the robot discussed in this paper, which can improve the body stability and reduced the errors from varieties of uncertainties caused by uneven ground and design aspects. At last, the forward kinematics and analytic solution to inverse kinematics of a 5R manipulator were proposed. The dynamics was analyzed using Adams based on the motion planning. The structure design of the manipulator using modularized joint drive parts was also given out. The outcomes in this paper have already been implemented on prototypes, of which both the performance test and in-service use have proved the feasibility of these studies.