Research On Light Manipulator Based On Brain Computer Interface Technology

The robot arm based on brain computer interface control can improve the quality of life of the disabled people with normal brain and limb function damage,which has important practical significance.Therefore,this paper designs and develops a light mechanical arm based on kinematics simulation,finite element analysis and other methods,and simulates and controls the mechanical arm through steady-state visual evoked potential(SSVEP),so as to provide a kind of brain controlled auxiliary mechanical arm for the disabled and realize part of self-care in their life.The main design contents and conclusions are as follows:1.The performance and design requirements of the light six axis manipulator are analyzed,and the technical parameters of the manipulator are determined;The overall three-dimensional modeling of the manipulator includes the configuration design of the manipulator,the selection of joint structure,the selection and calculation of the driving mode of the manipulator,the design of modular connectors and joints,and the lightweight design of the arm.2.The key parts of the manipulator are statically analyzed by ANSYS software to determine the rationality of its structural design and material selection;Modal analysis is carried out on the base of the manipulator to analyze the deformation of the base of the manipulator under certain vibration;In order to ensure the structural stability of the whole manipulator,the modal and static analysis of the whole manipulator are carried out,and the deformation and vibration of the manipulator under the limit load are analyzed;The lightweight design of the joint,including shape optimization and topology optimization,not only reduces the weight of the joint by 15.36%,but also improves the stability of the whole manipulator.3.Through the analysis of the forward motion characteristics of the manipulator,the functional relationship between the position and attitude of the end effector of the manipulator and the base of the manipulator is calculated and described,and the motion range of the manipulator is calculated by Monte Carlo method;The inverse kinematics of the manipulator is analyzed.The nonlinear problem is solved by analyzing the expected position and attitude of the known tool coordinate system for the fixed coordinate system,and the joint angle satisfying the expected requirements is studied and calculated;The kinematics and dynamics simulation of the manipulator are carried out,and the load test of the manipulator prototype is carried out to verify the rationality of the structure design and actuator selection of the manipulator.4.The simulation control experiment of BCI manipulator based on SSVEP is carried out.The baseline of EEG signal is corrected and denoised.The characteristic parameters of SSVEP are extracted based on the power spectral density analysis algorithm of AR model;The ROS simulation platform of the manipulator is built and the trajectory planning simulation is carried out.The RRT algorithm is used to simulate the trajectory planning of the manipulator to verify the rationality of the algorithm;In the simulation control experiment of manipulator based on SSVEP control,the final correct rate of manipulator motion is 72.46%,which basically realizes the simulation control of manipulator using SSVEP signal in online state.This thesis has 54 pictures,19 tables and 83 references.