Development Of A Remote Operation Service Robot

With the development of society,the medical system is constantly improving,people pay more and more attention to physical health,and the phenomenon of aging in China has become more and more serious.The remote operation service robot can realize remote wireless control through the remote control handle,helping the elderly and other people with reduced mobility to grab objects.In the overall design of the remote operation service robot,the functional requirements and performance indicators are first given.Then according to the analysis of functional requirements and performance indicators,the mechanical structure and overall control scheme of the remote operation service robot are given.In the hardware design,the Raspberry Pi development board is used as the main control board of the remote operation service robot.The mobile chassis uses a brushless DC motor as the drive motor.The robot arm uses the digital servo RDS3115 and the digital servo MG996 as the actuator.The Raspberry Pi development board communicates with the C8051F040 development board,which is placed in the robot arm,via the CAN bus.The mechanical finger uses a micro stepping motor to achieve open loop control.The algorithm in this paper is divided into three parts.In the first part,the kinematics analysis of the remote operation service robot is carried out,and the coordinate transformation of the mechanical finger with respect to the ground is obtained.In the second part,the dynamic analysis of the remote operation service robot is carried out to obtain the driving torque required by each motor or servo.In the third part,the inverse kinematics of the manipulator is solved by MATLAB,and then the joint parameters of the manipulator are obtained by interpolation method: position,velocity and acceleration,and the relationship between them is described by the graph.In the software design,the software design of the remote control handle,the Raspberry Pi development board and the C8051F040 development board are respectively performed.Firstly,it analyzes the functions of the whole and various parts of the service robot,and then gives the overall design of the software.Finally,the corresponding software design is carried out for the functions that need to be realized in each part.In the actual debugging process,the Raspberry Pi development board,the mobile chassis,the mechanical arm and the remote control handle are debugged separately,and then the remote operation service robot is debugged as a whole.It has been proved by experiments that the remote operation service robot is in good working condition,accurate and sensitive.