| In order to solve the problem of the transfer of the elderly with inconvenient movements in the lower limbs and improve the status quo of the old-age care industry in China,the nursing robot technology has become a research hotspot in the field of robots in recent years.Its main function is to help the elderly with lower limbs to carry out the transfer nursing.Different from general industrial robots,the working objects of nursing robots are mainly elderly people with limited mobility.In order to ensure the safety of the care recipients,the nursing robots are prevented from falling and slipping.This paper takes the self-developed wheeled transfer nursing robot as the research object,analyzes the safety and stability problems in the whole work process,and realizes safe and comfortable transfer and handling.Firstly,the structural characteristics of the nursing robot are described in detail,focusing on the differences with other nursing robots,and then the finite element analysis of the weak parts of the robot is carried out to verify the rationality and safety of the mechanism design.Secondly,it analyzes the stability of the nursing robot in the work,which is divided into two stages:The first stage is to analyze the stability of the nursing robot in the process of picking up the caregiver.The DH method is used to model the kinematics of the nursing robot’s actuator.The recursive formula is used to obtain the pose of the robot at the end of the contact mechanism.The relationship between the joint angles is clear,and the motion characteristics of the process are clarified.The centroid curve of each part is obtained by ADAMS simulation software.Then the overall centroid trajectory of the nursing robot in the process of cultivating is calculated by Matlab software,which is stabilized by the gravity center projection method.Based on the judgment of sex,the stability of the nursing robot is analyzed.The second stage is to analyze the stability of the nursing robot carrying the caregiver’s movement process.Firstly,the two-wheel differential drive mechanism of the nursing robot is kinematically modeled,and the motion characteristics of the differential drive mechanism are analyzed.And the phenomenon of slip and drift that may occur under the turning state,through the dynamic analysis,establish its mathematical model,simulate the motion stability under different motion conditions through ADAMS simulation software,simulate the pressure curve of each wheel and ground of the nursing robot to analyze The stability of the nursing robot during the movement.Finally,through the prototype made to complete the experiment work,the operation prototype to complete the task of the person to be cared for,the experiment of the robot to hold the person verifies that the process of the robot will not occur dumping phenomenon and the rationality of the structure,can achieve safe and stable transfer and handling work. |
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