Study Of Cable-driven Manipulator For Self-reliance Support

Aging society is becoming a serious problem increasingly, the number of agingpopulation can be expected to double than now. Most of the aged are empty nest elderly, andthey can’t get care. Moreover, many disabled are lack of excise capacity because of disasterand disease. At the same time, the shortage of nurse contributes to the serious problem of theircare. Robotics has get a big progress, more and more different kind of robot is improvinghuman life. To change this condition, many institutions and colleges have worked on thestudy of self-reliance support robot domestic and overseas. In this paper, we raise acable-driven manipulator which is mounted on wheelchair, to achieve the self-reliance supportaim.In this paper, self-reliance support robots are comprehensive analyzed, and theadvantages and disadvantages of them are summarized, propose cable-driven manipulatormounted on wheelchair on this basis. The manipulator proposed in this paper is improved,cable-driven technology is adopted, and the new structure of manipulator is designed.Modeling the whole robot and manipulator, and designing the mechanical structure ofmanipulator. The weight and manufacturing cost of manipulator is decreased much bycable-driven technology, and the accuracy can meet the use requirements in live. This isbeneficial to popularize robot.Then discusses motion control arithmetic in the paper. Analyze the manipulator bykinematical modeling, introduce the forward kinematics and inverse kinematics, discuss thecontrolling algorithm of robot kinematic. Controller of this manipulator is designed, includecontrolling board and connection board. DSP is adopted as the main processor, and FPGA isadopted as the coprocessor on controlling board. DSP is used to receive the control commandand calculate the manipulator controlling algorithm, FPGA is used to control the servo motorand process those interface signal. Connection board provides power supply and I/O signalisolation function. Discuss the schematic and PCB designing of controlling board andconnecting board. Discuss the DSP and FPGA program and major program is verified by experience.Finally, manipulator is controlled to complete experience by controlling interface on PC.Controlling manipulator motion in automatic operation mode and manual operation mode,complete the grab experience. Verify the feasibility of mechanical structure of manipulatorand the correctness of controller designing and control algorithm.