Design Of 5-DOF Manipulator Mounted On Adjustable Wheelchair Seats

With the sustainable development of the robot technology which used to assist elder and disabled,the quality of life of the elderly and physically handicapped patients has improved significantly.However,most of the existing robots are installed in fixed locations,which results in the limit of the service type for these people.In order to solve this problem,this project has designed a service manipulator which mounted on a wheelchair with an adjustable seat.This manipulator combines the mobility of the wheelchair,the adjustability of the wheelchair seat and the flexibility of the robot arm together to ensure the disabled can perform certain daily operations without any care.The specific research topics of the project are as follows:1.According to the design guideline of the wheelchair arm,the degree of freedom of the arm and the configuration of the joint mechanism are determined,and a virtual prototype of the arm is draught using the UG software.Build the model of the wheelchair arm kinematics,and get the positive solve and negative solve using the D-H theory,consequence the jacobian matrix with vector integral,finally plot the workspace of the wheelchair manipulator according to the Monte Carlo method.2.Simplifying the wheelchair whose chair can adjust its angle and height to a 3-DOF institution,and the kinematic model of the wheelchair unit is established,and then combining the homogeneous transformation matrix and DH parameter method to get the kinematic equation.Finally the kinematics inverse solution of the redundant wheelchair manipulator system is simulated and verified.3.The force analysis of the robotic arm is conducted from both statics and dynamics aspects.The static and dynamic static equations of the manipulator are deduced according to the force transmission between the manipulator linkage and the D'Alembert's principle,and then the forces and moments of the manipulator's joints under different working conditions are calculated.4.The statics and dynamics equations of the robot arm are simulated.The changes of the forces and moments of the manipulators along with time are plotted using MATLAB and ADAMS respectively.The correctness of the static and dynamic equations of the manipulator are verified.