| Research on the technology of nursing robot in the field of medical robot is becoming a hot subject in recent years. The major function of nursing robot is to replace or assist the medical staff and family members of patients or elderly people to help disabled people turning,holding in patients and taking the medicine, etc. Nursing robot is a kind of interactive robot, and its movement pattern must conform to the patient or disabled limb movement characteristics of the recovery period, meeting the body's needs during their recovery.In this paper, based on the function of the by caregivers, a robot is designed, and the relevant kinematics analysis is completed.Firstly, the current situation of the development of nursing robot is analyzed at home and abroad, and a basic understanding of the development level of the nursing robot is got. The different working modes of the nursing service mobile robot are summarized, which lays a theoretical foundation for the structural design of the robot. A method of the nursing robot is put forward and the dimensional model is established based on the analysis of the human being's bones and museles with a bionic idea.Based on the environmental background, a service robot was designed in this paper. The design of the dimension scale and DOFs of the nursing service robot were finished. To ensure reliability, anays analysis of the key components and the main load-carried parts were performed.Each part of the robot was constructed by solidworks. The dynamic simulation was done in ADAMS for the virtual prototype and the verification to the motor selection was completed;Secondly, upper limb kinematics model was set up by using D-H method and solutions to the forward&inverse kinematics of the robot was obtained. By building the collision model of arbitrary arm links of double arms, the model of collision check factor was suggested and the better scheme was selected for avoiding collision,solving the analysis of inverse kinematics for double arms under the constraint condition. Based on monte carlo method, the robot's working space was planned in matlab,providing the basis for identifying the robot configuration, parameters, and the rod length optimization.Finally, according to the running stability, application range and bearing capacity in specific environment, the walking mode of the mobile robot was optimized, adopting the omni-directional mobile way with the complete constraint structure, and the optimal layout is picked out by calculating the Jacobian matrix rank of the six typical layouts, improving the stability of the robot in motion process.According to the expected position at the end of the robot arm and combined with the related parameters, bar model is set up and path planning analysis is done using robottoolbox toolbox in Matlab. The movement process of real-time situation is shown and many useful trajectory curve and parameter data is got at the same time,which create a good foundation for the further design. |
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