Dual-arm Transfer Robot Simulatioin System And Experimental Research Bsaed On ROS

As the aging process of the population continues to accelerate globally,the nursing demand for disabled patients or senior citizen who are in long-term bedridden is increasing,which has triggered the development of nursing robots.The transfer robot can assist medical personnel to complete the movement,transfer and transport of patients between various application scenari os,which can not only effectively alleviate the work intensity of nursing staff,but also greatly improve the quality and efficiency of nursing.Therefore,this paper starts from the simulation system of transfer robot,and explores the manipulator trajec tory planning and transfer trajectory based on comfort.The main research contents are as follows:Firstly,a transfer robot simulation system platform based on the robot operating system ROS is established.The URDF modeling method is used to construct the three-dimensional model;the simulation operation interface is built by RViz;the user operation interface,ROS parameter server and control interface of robotic arm are designed based on move?group node,and Move It! configuration assistant builds a motion planner and embeds the motion planner into RViz to create a complete simulation system platform.Secondly,the robotic arm trajectory search and interpolation algorithm is studied and the overall framework of trajectory planning is constructed.The realization principle of the trajectory search algorithms PRM,RRT and RRT?Connect based on sampling strategy is introduced in detail,and the advantages and disadvantages of the algorithm are analyzed from the time-consuming,number of feasible tracks,optimal trajectory determination time and success rate;with the maximum speed,maximum acceleration and maximum impact as the optimization targets,the interpolation algorithm with continuous segmentation function and combined sine function is designed and opti mized.The simulation system is used to build the manipulator trajectory planning framework,which lays a foundation for the transfer planning simulation.Then,establish a static and dynamic model of transfer mannequin and design a comfort evaluation function.A transfer mannequin model is derived combine the analysis different segments' relative position of gravity for various populations and the real-life transfer experiment;the relationship between contact position,interaction force and joint angle is analyzed by static model,and the human dynamics model is obtained using the Lagrange method.On this basis,the comfort influencing factors are analyzed and the comfort evaluation function is designed;complex method is used to solve the comfortable angles of different height and weight groups,and the transfer trajectory planning simulation is performed.Finally,an experimental study on the transfer based on comfort is carried out.The mechanical structure and electrical system of the experimental platf orm were designed to complete the mechanical and electrical integration of the system,and the two-dimensional force sensor was calibrated,the statics model is validated by the static experiments of each joint.Through single joint and global dynamics experiments,the dynamic modeling is proved effectively by finding out the variation law with measuring interaction force of each contact part under different angular acceleration and overall acceleration,comfort factors is analyzed by static and dynamic comfort experiments.