Design And Optimization Of The Terminal Structure Of The Robot For The Elderly And The Disabled

With the aging of the population,the problem of helping the elderly and the disabled has become a problem that every family is experiencing or will face.How to help the elderly and the disabled through robot technology has become a hot topic of social research.The end structure of robot is an important part of helping the elderly and the disabled.It is a key problem for robots to improve the accuracy of the work of the elderly and disabled robots,to help users grasp the objects flexibly and make the robot work more humanized.Therefore,based on the study of bionics,the end structure design,kinematics analysis and optimization design of the robot are studied in detail.The main research contents are as follows.First of all,using the combination of ergonomics and practical problems,Solid Works is used to establish a model of the end structure of the robot for the elderly and the disabled based on the principle of bionics.This model can achieve 9-degree-of-freedom rotational movement.Through the designed three-finger three-joint manipulator fingers and the modular design of the two parts of the manipulator palm,it can effectively realize the adaptive grasping of objects.Secondly,kinematics analysis and simulation are carried out on this basis.The pose equation of the fingertip of the end structure is derived by using D-H coordinates.The workspace of the underactuated bionic manipulator is obtained by using MATLAB software,and the forward kinematics analysis of the end structure is completed.Then,the joint length and joint angle of the bionic mechanical finger are obtained by solving the equations of inverse kinematics,and the inverse kinematics analysis is completed.The end structure of the robot is co-simulated by Adams and Solid Works,and the velocity curve,acceleration curve of the fingertip and the force of the torsion spring are obtained.Through forward and inverse kinematics analysis and simulation,the correctness of the model is verified.Finally,the optimization of the end structure of the robot is studied and designed.By establishing the grasping static model of the manipulator,the mathematical relationship between the joint size of the bionic manipulator and the applied force of the object is deduced.Then,the fitness function and the objective function are established by genetic algorithm to optimize the structure.In order to verify the correctness of the establishment of the model,the reliability of kinematic analysis and the effectiveness of size optimization.Through the use of 3D printing technology,the various parts of the model were made to complete the physical assembly.Then take the spherical object grabbing target as an example to carry out the grabbing experiment of the end structure.The actual results show that the terminal structure can realize the self-adaptive grasping of objects,thereby proving the rationality,reliability and effectiveness of the structure,and laying a certain foundation for the application of the robot for helping the elderly and the disabled.