Research On Structural Design And Motion Control System Of Home Service Robot

With the increasing problem of aging and child care,the research and development of home service robots is one of the hot spots in research of service robots.Aiming at the problem of function lack,weak man-machine interaction ability,and obstacle avoidance ability existing in service robots in the market,this paper designs a hexapod bionic beetle service robot.This robot can be used not only at home,but also in the field of forest fire detection,disaster rescue,anti-terrorism and other special service fields.(1)The structure of home service robot is designed by SolidWorks,whose size is 1.2m×1.0m×0.6m.In this paper,the robot design of the mobile platform and actuator is analysed--based on the hexapod bionic beetle service robot,two humanoid dexterous arms are used to replace the two mechanical legs by combining their functions.The structural characteristics of all joints and the selection of the driving motor and controller are described in detail.(2)The spatial coordinate system of robot leg and arm is established by D-H method.The relationship between the end coordinate of robot foot and the rotation angle of each joint is solved by the principle of robot kinematics and inverse robot kinematics.The dynamics of robot foot is studied by the Lagrange balance equation.The mathematical relationship between the robot coordinate system and each joint angle is established,and the mathematical model of the robot motion system is constructed.(3)The motion simulation of the home service robot is analyzed by ADAMS.By simulating the movement of the robot in various working states,the change of the center of gravity,the angular velocity and the force of each joint can be obtained,which verifies the reliability and rationality of the work and motion of the home service robot designed in this paper.(4)According to the design requirements of the robot control system,the system architecture of the home service robot is proposed from the aspects of multi-joint coordinated driving,multi-sensor information integration,working environment information processing and so on.The home service robot obstacle avoidance sensor system is constructed,and the sensor layout is carried out.Finally,the selection of the main electronic hardware is carried out,which lays a theoretical foundation for the precise control of the home service robot.