A Study On The Attitude And Comfort Of Moving And Handing Transfer Robots

As the ageing of the population continues to increase,nursing robots have gradually become the focus of research in the field of robots at home and abroad,and the design and research and development of transfer robots for care and handling are receiving widespread attention.Based on the actual needs of the R&D team(ie,to develop a nursing robot that can transfer care to the care recipient in an entrusted manner),this paper focuses on the most needed care for the careee during the transfer process.The best posture was studied to facilitate the completion of the overall structure of the care robot and the design of the control system.The main contents are as follows:First of all,this paper analyzes the structure of the human body and the method of segmentation.Based on this,it proposes a human mechanical equivalent model.Through the force analysis of the model,this article has identified the main factors(hip joint angle and the position of the hug)that affect the posture change of the human body.At the same time,the research goal is clear,that is,to obtain the best hip angle and the best picked position of the human body.Then,this article takes the waist comfort of the human body as the evaluation goal,and obtains the best hip joint angles from both the main and objective aspects,and finally determines the best hip of the human body by comparing the subjective and objective results.Joint angle.Among them,the objective aspect is to obtain the best hip joint angle by extracting the relevant characteristics of the subject's waist sEMG signal and analyze it.During this period,the setup and debugging of the self-test platform,the sEMG signal acquisition experiment,and the initial sEMG signal are completed.Drying and sEMG signal feature extraction and other research work;subjective aspect is the subjective evaluation of the best hip joint angle,in this period completed the formulation of subjective evaluation form,subjective evaluation experiment and result processing and subjective,objective consistency Sex analysis and other research work.In addition to waist comfort,there are other factors that affect the optimal hip joint angle,and each factor has ambiguity.Therefore,this paper proposes a fuzzy comprehensive evaluation model,which can betested through the use of the model.The best hip angle obtained by the master and guest research institute is accurate.Finally,the use of the COMSOL Multiphysics finite element analysis software to determine the best human body was picked up position,and combined with the main and objective experiments actually measured by each subject in the most comfortable state was picked position The data was tested for the accuracy of the results.During this period,we completed the research on the construction of human geometric models,human stress simulation,determination of optimization functions,parametric scanning,and optimization results analysis.