Research On Structure Design And Path Planning Of Home Service Robot Platform

As science developing,robots are gradually infiltrating from the industrial field to the service field.The service robot takes the assistance of people's daily life as the main feature,and gradually comming into our lives.Smart home era,society needs a service robot to coordinate electrical equipment,home service robot has the characteristics of complete function,convenient operation,fast update of technology and is popularly loved by developers and investors.Consequently,the research of home service robot platform has practical significance and broad market prospect.Under the premise of the ample market research and analysis of user's needs,this paper designs a three-dimensional structure and 2D assembly drawing of the home service robot platform.Taking driving torque and control precision into consideration,we select the model of stepper motors and stepper motor drivers,design the power module and calculate working time of the service robot platform.Subsequently,we analyze the height of gravity center in CATIA,and ensure that the center of gravity was in a low position to reduce the possibility of accidental fall of the robot platform when driving.Finally,we select the drive shaft as a key component to analyze the static and calculate the equivalent load of the drive shaft,then establish the finite element analysis model of the drive shaft.Stress analysis and deformation analysis prove that the drive shaft has a good performance of strength and stiffness,can meet the service robot platform usage demand.According to the situation that the service robot platform may encounter obstacles on the designated patrol path,combined with the characteristics of home use environment and obstacles,we select the BUG2 path planning algorithm to achieve obstacle avoidance and detour with the robot platform.We simulate different scenarios by selecting different number and shapes of obstacles in Matlab,the simulation results show that the BUG2 algorithm performance is good,the robot platform can continue to follow the straight road after bypasses obstacles,and the algorithm has a continuous obstacle avoidance ability.Simulation analysis has laid a good foundation for applying the algorithm to the service robot platform.Next,we need to consider the control plan of the service robot platform tracking the specified trajectory.As the robot platform has quality,in the start-up and stopping process,we need to overcome the resistance and the inertia force.Based on the established model of kinematics and dynamics,this paper designs a tracking controller with Lyapunov direct method,what's more,adds dynamics constraints strategy,the velocity and acceleration kinematics parameters of the controller output is more consistent with the actual situation.By simulation,we get the service robot platform trajectory tracking error,velocity and acceleration curves and stepper motor pulse parameters,the simulation results show that the dynamic restriction strategy plays a significant role in the process of the whole movement of the robot platform,linear velocity,angular velocity,acceleration and angular acceleration are all limited in a reasonable range.With the hardware support package of Simulink and using the programming method based on the model,the stepper motor pulse parameters are compiled and downloaded to the main control chip of the service robot platform to realize the trajectory tracking control experiment.The experimental results show that the designed controller converges fast and performs stablely,can meet the actual control requirements of the robot platform.