Design And Research Of Multifunctional Nursing Robot

As the early arrival of an aging society and the "empty nest families" is increasing, more and more old people are becoming lack of care. It has become an urgent social problem to set up a community health pattern to take care the bed-ridden people who are out of condition and unable to take care of themselves. This problem led to a research boom in the medical care field, many outstanding results were carried on, but still can't meet the diverse needs of daily nursing care.In response to this situation, a multifunctional nursing robot was designed in this paper. This robot is an intelligent wheelchair and nursing bed, which can be a high intelligent transport tool, as well as to meet the diverse position daily nursing needs and intelligent water closet function at home or in the hospital. This robot can eliminate the insecurity of the transfer between the two patients devices. In the follow-up study, it also will have a more advanced human-computer interaction intelligences, such as emotional intelligence, so that senior citizens and those paralyzed people who are lack of care can solve those problems of self-moving and care.Firstly, based on ergonomics, the robot was overall designed in this paper. According to the relevant standards and research surveys, developed the design principles, functional requirements and design specifications; completed the overall design of the robot body and the overall control system design; determined the drive style and energy supply-driven form.Secondly, this paper completed the robot kinematics and dynamics analysis. Linkage Group Analysis Method is used to build the robot kinematics and dynamics model, completed the theoretical arithmetic in Matlab circumstance. Aiming at the possible error situations which may caused by the necessary assumption in the theoretical calculation, re-calculated all the parameters with virtual prototyping technology, and completed the verification of the theoretical results. The results shew that the difference between two calculation methods is small, the theoretical results are reliable. Thirdly, completed detailed design of the robot structure with top-down approach, as well as whole set of drawings, which mainly includes a general framework, lifting leg parts, lifting back parts, turning parts, pedal lift part and intelligent water closet system. Among all,the multifunctional intelligent toilet system shows our concern for the old to a large extent.Finally, the robot stability and finite element of key components were analyzed. The former one includes the analysis of general framework and after whole design longitudinal static stability, as well as dynamic stability and lateral stability check on the slope. Key components of the stress and strain results were put forward from finite element analysis, checked the body strength and rigidity. These two analysis shew that the structure of the robot has a high safety factor, can fully meet the requirements...