Design Of Hybrid Assisted Nursing Robot

Aging population and frequent accidents lead to an increase in the number of disabled people,and assisted nursing robots have gradually become a research hot spot in medical and family fields.Aiming at the problems of patients with mobility inconvenience or disability,such as cleaning and mobility,a 6-DOF hybrid multi-functional auxiliary nursing robot was designed based on TRIZ theory,which can realize the user’s bed posture shifting,squatting,standing and other auxiliary rehabilitation exercises,and the physical labor of nursing staff was reduced.The main research contents are as follows:Based on TRIZ innovation theory,the deficiencies of existing auxiliary nursing equipment are found through functional component analysis and causal axis analysis,and a hybrid auxiliary nursing robot with 4-UPR parallel manipulator is designed by technical contradiction and matter-field model in TRIZ tool.The key components such as rotary device and rotary motor are selected by theoretical calculation,and the degree of freedom of topology mechanism is analyzed.Based on ANSYS Workbench software,the overall finite element analysis of the hybrid assisted nursing robot was carried out,the strength check of the key structural parts such as the column,frame and support beam was completed,and the corresponding stress and deformation cloud maps were obtained.The modal and harmonic responses of the beam were analyzed to find the location and degree of failure corresponding to the resonant frequency of the beam.The inverse and forward position solutions of the 4-UPR parallel mechanism were solved by the closed vector method and numerical method,and the functional expressions between the length of the four moving branch chains and the pose parameters were obtained.Based on the inverse position equation,the velocity Jacobian matrix of the parallel mechanism was derived,and the singularity of the parallel mechanism was analyzed.It was found that under the given constraints,the inverse,positive and mixed singularities of the parallel mechanism would not occur.Based on MATLAB software,the reachable working space of the mechanism was solved,the results show that there are no cavities and singularities,and the kinematic performance of the mechanism is good.Based on ADAMS software,the kinematics and dynamics simulation of hybrid assisted nursing robot were carried out.The virtual prototype of 4-UPR parallel mechanism platform was established,and the correctness of one translation and two rotation of the parallel mechanism was verified.The dynamics simulation of the nursing robot was carried out to simulate robot transfer nursing operations.The simulation results show that the designed robot structure can meet the user’s comfort,safe moving and daily care needs,and a prototype was built to verify the feasibility of the whole.Figure [66] table [9] reference [96]...