Research On Structure Design And Motor Control Of Manipulator Installed On Multifunctional Disabled Wheelchair

With the rapid development of robot technology,the study of assistive robots receives more and more attention,the robot gradually penetrates into areas of family life and service from the traditional industry.At the national "863 Program" initiative,this thesis develops a manipulator installed on multifunctional disabled wheelchair.Based on simulations and experiments,this paper analyzed the kinematics,workspace and vibration characteristics and completed the trajectory planning of the manipulator based on spline and combination sine functions.The main research contents are as follows:(1)Based on the method of D-H coordinate and homogeneous transformation,the mathematical model of the kinematics of the robot is established and its forward and inverse solutions are solved.With the software MATLAB,the simulations of forward and inverse solutions are completed.By the solutions of forward kinematics of arbitrary angles,the correctness of the established mathematical model is verified.The workspace of manipulator is obtained by using geometric method and Monte Carlo method,and its correctness is verified by doing the experiment.(2)Considering the manipulator main functions,this thesis completed the structure design and motor control.Based on the results of repeated verification to the design scheme and 3D models,the prototype of manipulator is built.At last,analyze the results of the simulation and experiment to optimize the most reasonable model.(3)Based on the main technical parameters of the manipulator,plan the motion trajectory of the manipulator by using the cubic spline,five-spline and combination sine functions,and then compare the results.Considering the universality of the manipulator,this thesis completed the trajectory planning using the asymmetric combination sine function.(4)The manipulator modal analysis is completed with the 3D models,including the natural frequencies and mode shapes of arms,gripper and the whole structure.In order to analyze the vibration characteristics,design the experiment and compare the results to the simulations.(5)This thesis designs the obstacle avoidance module and voice control module to accord the intelligent and humane requirements of the manipulator installed on the multifunctional wheelchair.In order to verify the manipulator gripping load capacity and stroke,carry out the experiments and analyze the results.At last,verify that the manipulator can complete the tasks well through doing the feeding soup experiment.