The Dsign Of Multifunctional And Biomimetic Cooperative Dual-robots

With the number of patients requiring orthopedic surgery of the lower extremities increasing year by year,related medical resources are relatively tight.During surgical operations,medical personnel performing limb lifts need to complete surgical hand disinfection,which is time-consuming and laborious,causing inconvenience to medical personnel and affecting surgical efficiency.In response to the need to replace artificial lower limb lifts,this paper designs a multi-functional bionic two-arm collaborative robot,which not only achieves obstacle avoidance lifting operations in lower limb orthopedic surgery,but also assists patients in lower limb rehabilitation training actions after surgery.The structure of a multifunctional bionic two-arm cooperative robot can meet the requirements of smooth lifting of the lower limbs,which is safe and reliable.In order to meet the design performance requirements of a multi-functional bionic two-arm cooperative robot,this paper conducts mechanical structure design,kinematics analysis,collision detection,coordinated motion planning,and virtual prototype joint simulation experiment analysis.Firstly,this paper analyzes the human limb structure and limb lifting requirements,designs a three-dimensional model of a two-arm cooperative robot with a humanoid arm structure based on the analysis results,and completes the selection of driving components for the motor module.In order to reduce energy consumption and improve the dynamic characteristics of the robotic arm,a gravity compensation device is used to design the structure of related parts.Secondly,the D-H method is used to analyze the kinematics of the robotic arm of a multi-functional bionic two-arm cooperative robot,and MATLAB is used to validate it.The kinematic constraints of the coordinated operation of the two arms are analyzed.The Lagrange method is used to establish dynamic equations,which provide a theoretical basis for subsequent robotic arm control.According to the center of gravity projection method,the stability analysis of the robot structure is carried out to ensure the rationality of the structure.Monte Carlo method is used to analyze the workspace of a multifunctional bionic two-arm cooperative robot,providing important kinematic performance indicators for the robot.Then,a collision detection model for collision objects and environments is established based on the bounding box method,and collision detection methods between different simplified models are studied.The limb lifting process is divided into two processes: loose coordination and tight coordination.RRT path planning algorithm and trajectory smoothing are used to achieve loose coordination planning for both arms;Complete tight coordination planning of both arms based on the path generated by the fitting motion of the lower limb joints,ensuring smooth obstacle avoidance operations for the robot to lift the lower limb.Finally,a fuzzy PID algorithm is proposed to establish a robot position control system,and a joint simulation environment of MATLAB and ADAMS is established.A virtual prototype joint simulation experiment is completed,and the path tracking effect of coordinated planning is analyzed,verifying the effectiveness of motion planning based on dual arm coordination.