| Bathing is an integral part of routine health care for everyone health activities, within the improvement of people’s living condition, taking a bath at home is a common phenomenon. But, we cannot rub back effectively just because of the limitation of body’s structure,especially for the old people and the disabled people. so self Chopping become a major problem when bathing. At present,study on Chopping machines is not very wide both at home and abroad.In view of this, the subject use of robotics research designed an automatic Chopping robots.First, this paper carried out a detailed analysis about the Chopping role and practices,by comparing and analysising summarizes the advantages and disadvantages of Chopping device on the market,based on this, we propose a overall design of new Automatic Chopping back robot,this automatic robot system is with simple structure and can be controlled easily campared to the exiting robots.this system consists of structure part and control part, and the relationship between the two portions will be described in detail.Based on the requirement of the design scheme, this robot is made of6061aluminum and the transmission part is driven by ball screw and synchronous belt. Then carried out a detailed design of its body parts, including chassis design, mechanical design of the Chopping institution, Chopping head design. Proposed a new agency within the long cycloid Chopping institutions as robots and use Pro/E3D model built Chopping device models and completed the whole assembly.In order to further verify the feasibility of the new agency, using MATLAB software to kinematics simulation is carried out within the new cycloid mechanism kinematics performance of the whole motion cycle mechanism were analyzed. In order to obtain the required sports performance, the use of linkage-scale integrated approach to the rods’dimensions of Chopping agencies carried out a detailed design, using MATLAB programming language to build the institutions of numerical atlas database, using fuzzy identification to achieve multiple sports bar group. the further optimization of the bodies to determine the size and dynamics simulation. The simulation showed that the simple structure can meet the requirement of the agency.According to the overall scheme of Chopping robot,the hardware and software control systems are designed. Control system mainly includes PLC control system selection, design PLC external wiring, control strategies proposed and the control panel and Man-machine interface.At last,experiment prototype of the chopping robot was built to validate the feasibility of control part The result showed the robot could meet the requirement of what the thesis said in the first paragraph. |
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