The Structure Design And Moving Scheme Research Of Adroit Meal-assistance Robot

With the increasing number of the aged and the disabled, the service robots have beenwildly used to reduce the family burden. Meal-assistance robot is quite a new field of servicerobot, which is rarely seen in China. It has been paid attention in foreign countries especiallyin United States and Japan. A new type meal-assistance robot was designed in this paper,containing the research of the control system and the moving scheme.The current situation of meal-assistance robot in China and other foreign countries hasbeen firstly described and analyzed in this paper. The overall strategy of the robot isdetermined, including mechanical structure and overall control strategy. This paper alsoresearches the trajectory planning of the robot and does some experiments on the robot totestify whether the structure and control system is right or not.The robot is modeled and simulated in3D. The size of the joints, the move mode and thework space are also determined in this paper, with analyzing the stress of the importantcomponents and designing the2D structure in detail at the same time. The robot’s kinematicsmodel is established with D-H method to calculate kinematics equation. The SimMechanicstoolbox of the MATLAB is used to build the simulation model of the robot and the kinematicssimulation is presented to obtain the robot kinematics data to verify the working space. Afteranalyzing the path routing and the control strategy i did the trajectory planning, including thetaking trajectory and the feeding trajectory. Considering the safety and the accuracy of therobot, the way of combination of the kinematics trajectory planning and the method ofteaching and playing back is used. At last, I used QPID platform to make experiments on therobot to testify the function of the robot.