Design And Research Of New Flexible Nursing Robot

Nowadays,the aging degree of the population continues to aggravate,and the number of people with lower extremity disability or mobility inconvenience caused by disasters,wars,injuries and other factors has increased significantly.The scope of daily activities of this group of people is very small,the traditional means of care in some aspects are inadequate,so that the process of transport will not only feel uncomfortable,but also prone to accidents,causing secondary injury to their body.In order to avoid this situation and reduce the labor intensity of nursing staff,this kind of nursing robot was born.In this paper,aiming at nursing transfer robot,a kind of mediating robot with adjustable center of gravity based on wire rope transmission is designed.Solidworks modeling software is used to design the overall structure scheme of mediating robot,ADAMS and MATLAB are used to control the center of gravity and reverse simulation design of three kinds of mediating robot.According to its functional module,the control system of mediating robot is built.Finally,the support plate of mediating robot is optimized.It promotes the construction of physical prototype.The research contents of this paper are as follows:First of all,the design principles that should be followed in the design of the protective robot are determined.Referring to the relevant national standards,the technical index of the protective robot is put forward.According to the expected work flow,the four basic functions of the robot are determined.Then according to its function,the robot is divided into four modules: mobile module,support module,transmission module and control module.The virtual prototype of each module is designed by using Solidworks software,and the selection and calculation of electric push rod and screw lift are completed.Secondly,a simplified model of multi-rigid body is constructed,and ADMAS is used to simulate the two working processes of robot holding and attitude adjustment.On this basis,three schemes to ensure the stability of the robot by adjusting the position of the center of gravity of the human body are designed.Using the idea of PID control and the joint simulation of ADAMS and MATLAB,the three schemes are simulated respectively.according to the simulation results and the control effect,the advantages and disadvantages of the three control schemes are compared,and finally the scheme is determined to be one arm fixed and the other arm moving alone.Thirdly,the finite element analysis method is used to optimize the design of the support plate.Using ANSYS software,the topology optimization design is carried out,the material is reduced,the reconstruction model of the support plate is obtained,and the size of the reconstruction model is parametrized.Under the condition of ensuring its strength requirements,the quality of the support plate is minimized.Then,the modal analysis of the optimized support plate is carried out to ensure its good vibration performance.Finally,the control system is designed and built based on the application scene of robot.The overall control structure of the robot is determined by the results of theoretical calculation,analysis and simulation,and the design is carried out according to different functional modules.The hardware of the key control part is selected,and the driving motor is selected,which makes the control system extensible.Finally,the control algorithm is compared and the control software is designed under the condition of determining the hardware.The control principle and implementation of the robot are described in detail.