Structure Analysis And Research Of The Manipulator For Elder And Disabled Based On The Robot Mechanism

As a key research and development project of service robot,the manipulator for elderly and disabled can restore the upper limb function or compensatory function to the maximum extent possible for the elderly and the disabled,and meet their basic physiological needs.In the working process of the manipulator,there are some problems,such as simple control strategy,not avoiding obstacles,easily endangering the safety of the user,complicated configuration of the equipment,redundant structure,low load ratio,and so on.Taking the manipulator for elderly and disabled as a research object,combined with its configuration characteristic,the model method is used as a way to analysis and research on the manipulator system,the main details include:the configuration of manipulator options is the first step of structure design and analysis of ontology,directly determines the performance of the manipulator,is whether the manipulator which has the function of book design basis,and key to choosing configuration of the manipulator,need to consider the number of degrees of freedom,location of the freedom distribution and key factors such as joint drive mode;Based on the structure characteristics of the manipulator,simplifying the physical model,D-H parameters model is set up,on this basis to establish kinematic and dynamic equations of the manipulator,and to analyze the kinematics and dynamics,get how the parameters influence the performance of the manipulator;Whether manipulator has good dynamic performance in normal operation is analyzed by using the classical control theory;By using cubic polynomial interpolation,cubic polynomial interpolation,cubic B-spline function interpolation and MATLAB Robotics Toolbox,the trajectory of manipulator in joint space is planned to improve the control accuracy of manipulator in actual operation.By using this design method,the manipulator for elderly and the disabled has a good configuration,reasonable connecting rod parameters,stable motion process,and meets the functional requirements.