Design Of Multifunctional Home Service Robot

At the beginning of twenty-first Century today, the robot industry is in a high-speed development process, where the home service robot is because of the broad market prospect and positive social effects favored! While the aging of the population, social intelligence is the catalyst industry booming. The characteristics of the home service robot with complete functions, stable performance, convenient operation, technical updates faster, can be very good to meet the growing market demand and wide like developers and investors. Therefore, it is of practical significance to the study of multifunctional home service robot.At present, the design of service robot involves three parts form mechanical system, control system hardware and software control system, the system of independent work and collaboration is the key to the performance of. In this paper, from a practical engineering problems, the three part of the home service robot research design. Research contents are as follows:(1) the design and analysis of the moving mechanism and a five degree of freedom arm;(2) the design of system hardware home service robot control based on ARM7;(3) the design of home service robot control system software based on μ C/OS-ⅡFirstly, according to the home service robot working environment and work content, the moving mechanism of tricycle two differential drive and five degrees of freedom of the gripping mechanism, the moving mechanism for motion analysis, and then use the D-H rule to the manipulator position inverse solution, using the robot velocity (Jacobi) of Jacobi manipulator inverse solution of velocity, using the Lagrange method (Langrange) is applied to dynamic analysis of the manipulator. On the basis of the dynamic component selection and mechanism parameter optimization, finally realizes the reliable actuator. Secondly, the design of the embedded hardware system based on LPC2138, and the hardware circuit of control chart is built with PROTUES, programming the system effectively integrates a number of hardware resources, to achieve the functional requirements of the home service robot. Finally, using ADS (ARM Developer Suite) design of embedded real-time software based on μ C/OS-Ⅱ control system, the control system meets the real-time response system. By testing the simulation platform, the home service robot can accomplish the intended function, results show that, the research design is feasible.