Development And Experimental Of Double-arm Transfer Robot System

As the population aging trend continues to increase,the labor gap of high-quality nursing staff has become more obvious,and many countries have begun to advance the research and development process of elderly care equipment.Among them,transfer robots that help paralyzed elderly people to complete the daily transfer between bed and chairs are of great significance,but the market The existing robots are still not mature enough,the degree of automation is low or the applicable environment is narrow.Therefore,this topic starts with the analysis of the human forces in the transfer process,compares the transfer process of the nursing staff with the transfer process of the existing transfer robot,points out the existing problems,proposes a new transfer robot workflow,and addresses this The corresponding robot system was designed for the workflow.The specific research content is as follows:Firstly,the human body transfer process is analyzed,and the structure of the human body is simplified,and a three-segment human body force model is established to analyze the force state of the human body during the transfer process.This model is divided into two parts: static model and dynamic model.,Corresponding to the prediction of the force when the patient is picked up and during the transfer process,and for the loophole of the model in terms of friction,a new supplementary equation is proposed to be revised.The force model can be used to predict the internal joint torque of the human body The force distribution can also be used to guide the structural strength check of transfer robots.In order to verify the correctness of this force model,a live-action test platform was built,and the mechanical structure,control system composition and various safety measures of this test platform were introduced in detail.Secondly,by comparing the transfer process of the nursing staff and the existing robot,the theoretical analysis and prediction of the human force model,we found some deficiencies of the robot holding people.Style transfer method,a new robot transfer workflow is designed,and a new transfer robot body structure is designed for the new workflow.The load-bearing fabric structure used to assist the handling process,as well as the robot arm and telescopic chassis are introduced in detail.The working principle and mechanical structure of key components.According to the mechanical structure of the new transfer robot,the corresponding control system is designed,the composition of the control system is introduced,and the conversion relationship between the key DOF motion parameters is established.Aiming at the new transfer workflow,the operation logic of nursing staff is analyzed to reduce the control complexity,and finally the control flow of equipment human-computer interaction is proposed.Based on the three-segment human body stress model,designing a single joint statics experiment and finding suitable experiments for supplementary equations not only verified the rationality of the force equations,but also verified the corrective effect of supplementary equations on the experimental results.The high-speed and low-speed conditions of the human body verify the correctness of the Lagrange equation.Then,for the mechanical structure of the new transfer robot,stress simulation experiments are carried out on the robot arm and chassis to ensure that the robot structure is designed reasonably and the work is reliable...