Design And Analysis Of Helpage Disabled Manipulator System

This dissertation mainly introduces the design and analysis of manipulator system,rotary table system,special vessel,working platform,mouth positioning device and working method of system.The system can help patients with upper extremity disability to dine more easily and reduce the difficulty of controlling the manipulator.The mechanical part of the system mainly includes manipulators,turntable systems,and special vessels.The system combines the control method of teach reappearance type and the Man-machine Interactive control method together,which effectively simplifies the manipulator's operation method and reduces the complexity of the operation.The design of this system combines the theory of ergonomics and humanized consideration of the structure size,working space and working methods of the system,so as to simplify the operation of the upper limb degrading patients to the system.At the beginning of the design,the dietary needs of the upper limb degrading patients were matched with the diet nutrition,and the food characteristics were combined into the system.In order to further develop the design work,this paper studies the various key technologies of the Nursing Robot for the elderly and the disabled,and summarizes the advantages and disadvantages of all kinds of food aid robot.On this basis,the work scheme is optimized to achieve a good working state of the good fusion of human-computer.First of all,according to the food and beverage needs of the upper limb loss of energy,this design put forward a work program that can be suitable for eating many kinds of food,and designed special utensils suitable for various types of food with mechanical hands to complete the dietary needs.Secondly,combined with the design concept of 3D printing,we used SolidWorks 3D modeling software to build three-dimensional model,and select the required driving motor.Using MATLAB software and corresponding algorithm,the gravity moment balance mechanism of the manipulator is optimized and calculated to obtain the optimal size and installation location of each component.By using MOD_D-H parameter method and lagrangian method to carry out the kinematic analysis and dynamic analysis of the manipulator respectively,and obtain driving torque of each rotary joint.Adams simulation software is used to build virtual prototype and simulate the motion of the system,which provides a theoretical basis for driving motor and the selection of various parts.