Structural Design And Control System Research Of Humanoid Robot Arm For Massage

With the deepening of our aging process, how to care for the elderly will become a major social problem which must be solved urgently. At present, the age-related diseases and chronic diseases with all kinds of pain have become one of the main beset of the elderly ailments. Chinese massage is always the most effective means which treat and relief various chronic pain. Service robot can effectively relieve medical staff shortage of present situation, and improve the life quality of elderly and handicapped, which has a positive impact on the development to our social stability,and it also has a vital significance to research humanoid robot massage.Humanoid robot massage arm is an important part of the robot. It is a device that sends massage terminal and massage hands to a accurate massage position, imitating human arms structure and function characteristics, using serial robot's flexibility and working space advantages, cooperating position information provides by binocular vision positioning module. The goal of this massage robotic arm design is to ensure accurate movements, and meet the requirements of strength, stiffness and dimensional while achieve lightweight, personification, make its have good affinity.Aiming at the complex structure and high precision requirements of humanoid robot massage arm, after depth analysis of its working mechanism, based on the modular design concept, modular design and test and improvements for the humanoid robot massage arm was carried out, making the structure more rational compact and improved the transmission efficiency. At the same time, it also supply a good foundation for improving the efficiency of design, fabrication and assembly. Based on the three-dimensional modelling SolidWorks software, the humanoid robot massage arm parametric three-dimensional entity model was designed and assemblied, it also provided prototype model for the arm simulation analysis at the same time. Based on the finite element analysis software ANSYS, the key parts of the arm strength and stiffness was analysised, which verified that the designed institution achieved the requirements. Based on the mechanical system simulation software ADAMS, virtual prototyping mode of each dof of the humanoid robot massage arm was built, and carrying on the kinematics simulation, analyzed and studied the arm's run circumstance of each dof, and provided reference basis for the design improvement and its drive mechanism gap adjusting.Based on the multiaxial PMAC controller's fast response speed, high precision, short development cycle, simple programming and operation features, with the adopting of PC+ PMAC designed the humanoid robot arm massage hardware control system. Based on the VC++, software system of humanoid robot massage arm was designed, which realized the control of the massage robotic arm. Experiment and practical application verified that the design of massage robotic arm reached the design requirements of project.