Mechanism Design And Motion Control Of Home Service Robot

With the improvement of people’s living standard,more and more people began to pay attention to the quality of family life,hoping that through the home service robot for their own cleaning,child care,accompanying the elderly,security inspection and other aspects of the problem.However,the function of the existing home service robot on the market is relatively single,can not meet all the requirements of people’s home service robot,in order to solve this problem,a six-legged bionic home service robot is designed.The robot is equipped with a light robot to meet people’s needs in the use of home service robots to grab items,and set up a home service robot sensing detection system,in order to carry out a safety inspection of the indoor environment.(1)Based on the mechanical structure of the six-legged robot,combined with the functions of various home service robots on the market,the walking mechanism and the executive mechanism of the home service robot are designed by Solidworks software.Using the modular idea,the walking mechanism of the home service robot is analyzed,which is mainly composed of six mechanical legs,body and rudder,each of mechanical legs has 3 degrees of freedom.The actuation mechanism consists of shoulder joint,elbow 1,elbow 2,wrist joint,end actuator and drive motor,which is mounted on the top cover of the robot;The mechanical finger is driven by the rope.The principle of the rope drive of the mechanical finger is expounded in detail.Through the special winding way,the finger can better adapt to the shape and size of grasping objects.The selection of steering gear,driving motor and reducer is introduced in detail.Based on the finite element analysis of the mechanical finger of the household service robot,the stress and strain diagram of the manipulator paw are obtained.Through modal analysis,the vibration diagram of the manipulator’s paw is obtained,and the rationality of the structure of the manipulator’s paw is analyzed.(2)Using the D-H method to establish the walking mechanism and the spatial coordinate system of the execution mechanism of the home service robot,using the principle of positive and inverse kinematics of the robot,the relationship between the walking mechanism of the home service robot,the end coordinates of the execution mechanism and the corners of each joint is solved,the dynamic analysis of the mechanical legs of the home service robot is carried out by the Lagrange balance method,and the dynamic equation of the mechanical leg of the home service robot is established.(3)The dynamic simulation software of ADAMS is used to analyze the dynamic simulation of the designed home service robot model.By simulating the motion of the home service robot walking in a straight line,the change of the centroid displacement,the angular velocity change of each joint and the change curve of the torque of each joint are obtained by simulating the motion of the light robot of the household service robot grabbing small objects,and the change of the mass center displacement,the change of the force moment,the angular velocity and the change curve of the angular acceleration of the joints in the process of grasping the small object are obtained.By analyzing the curve,the stability and rationality of the structure of the home service robot are verified.(4)The home service robot sensing detection system is designed,the main hardware is selected,and the sensor installation position is reasonably laid out.Using the modular idea,the hardware circuit diagram of the minimum system,ultrasonic barrier avoidance system,environmental detection system and image detection system are designed,and the sensing detection hardware system of the home service robot is set up.The designed circuit is simulated and analyzed by software Keil 5 and software Proteus 8.9.