| With the number of elderly people gradually increasing and the market gap of assisted eating apparatus gradually becoming bigger,the national key research project "Research and development of intelligent assistive devices technology and system for elderly people’s eating,bathing and emotional companionship" was born.Intelligent life care assistive devices for the disabled elderly have become an important way to help the elderly to eat.In this paper,a mealassisting robot is designed and can solve the problem of too much or too little meals.The main results of this paper are as follows.The general scheme of the meal-assisting robot was determined.Analysis and determination of the working space,structure size and drive mode of the meal-assisting robot.According to the technical indexes,the design of the dinner plate and meal spoon,the size and rotation range of the pick-up and delivery robot arm and the auxiliary robot arm are determined and modeled in 3D.Finite element analysis of the auxiliary robot arm and design of the overall control scheme.The kinematic analysis and trajectory planning are performed for the pick-up and delivery robot arm and the auxiliary robot arm of the meal-assisting robot.Forward kinematic analysis and reverse kinematic analysis are performed for the pick-up and delivery robot arm and the auxiliary robot arm,respectively.The trajectory planning is carried out for the process of meal picking,meal sorting and feeding,and the speed and acceleration at the beginning and end of each path are defined.The kinematic simulation and trajectory planning simulation using matlab/simulink verifies that the kinematic equations are correct,the planned path is reasonable,and the curve of the trajectory function simulation is smooth.Dynamics analysis of the meal-assisting robot.Dynamics modeling of the meal-assisting robot,kinetic energy,potential energy,and torque calculations for each rod to obtain the kinetic equations.The dynamics simulation of the meal-assisting robot is performed using Adams to analyze the data of driving torque,angular velocity,and angular acceleration,and to verify that the dynamics equations are correct.Design of the control scheme for the meal-assisting robot.The control flow of the servo is analyzed and designed,the hardware of the control system is designed,the control flow of the robot arm is designed,and the prototype is used to conduct experiments with the DSPACE semi-physical platform,and the experimental results are analyzed to verify the correctness of the control system design. |
