Mechanical Design And Research On Motion Control Of Hotle Service Robot

With the rapid development of science and technology,and the continuous improvement of people's living standard,service robot has gradually entered people's daily life,involving medical care,intelligent cleaning,entertainment teaching,hotels service and other fields.Usually,the design of the service robot mainly covers the design of appearance,mechanic system,hardware system and software system.According to the practical application of the hotel scene,the mechanic structure of the service robot is designed based on the design principle of the low cost,low implementation difficulty and high reliability in this paper,and the motion control of the service robot has been studied.First the key points of design for service robot home and abroad are analyzed and referred,and the design idea of standardization and modularization is put forward to design the mechanical structure of the service robot based on Solidworks 3D software.In the part of the specific design,the applicability in a variety of service robot chassis structure is analyzed and compared,and omnidirectional mobile robot chassis structure is selected as mobile mechanism for the service robot.And the design of the body frame and the appearance of the service robot is designed according to the demand of function and appearance.Finally,the finite element analysis of the main stress components is done,and the hardware structure and software architecture of the motion control system is detailed as well.The kinematics and dynamics modeling of the service robot designed is built on the basis of coordinate transformation and Newton's laws.The relationship between the speed of omnidirectional wheel and the translational speed of the service robot,as well as the relationship between the motor torque and the translational acceleration of the service robot,is obtained.Finally,the basis kinematics characteristics of the service robot in the process of plane movement are analyzed.A virtual prototype model of the service robot is created to verify the rationality of the structure design based on virtual prototype technology ADAMS simulation software,as well as the simulation environment,which contains the key components' material properties and contact parameters.The motion simulation of virtual prototype mode in straight road and slope road is analyzed,as well as the influence of the service robot's moving speed and damping spring stiffness on the vibration irregularity,to lay the foundation for the parameter selection and optimization of the physical prototype structure.On the basis of the kinematics of the service robot,the indoor positioning algorithm based on the encoder and the single axis gyroscope,as well as the global trajectory tracking control of the service robot,is studied.The trajectory tracking controller is designed based on the Backstepping algorithm,and verified by the MATLAB simulation environment.And the experiment results indicate the effectiveness of the controller designed.Finally,this paper analyzes how to apply the positioning algorithm and trajectory tracking algorithm to the actual control of the service robot.