Design And Implementation Of A Mobile CPR Robot

In today’s world,China gradually is entering an aging society,and the probability of outdoor cardiac arrest of the elderly will greatly increase.First,because the golden rescue window period of cardiopulmonary resuscitation is only 4-6 minutes,even if the patient is sent to a nearby hospital for emergency treatment,it will miss the prime time.Second,even if there are medical staff to perform CPR on patients in time,the medical staff is physically overdrawn in the process of CPR,which affects the rescue effect.(Science question: Is there an intelligent cardiopulmonary resuscitation robot suitable for outdoor first aid that can perform first aid tasks efficiently and quickly)Therefore,in view of the above phenomenon,this thesis proposes a fully intelligent outdoor emergency robot-cardiopulmonary resuscitation robot,which uses robots to replace medical staff,thus greatly improving the success rate of rescue of outdoor cardiac arrest patients.So the main research contents of this thesis are as follows:Firstly,developed on the analysis of the application scenario of the robot,the chassis structure of the robot is designed;to simulate the arms of medical staff,design the structure and degrees of freedom of the robotic arm;design the structure of the end effector according to international guidelines for cardiopulmonary resuscitation.Secondly,the improved D-H parameter method is used to model the manipulator,and the forward kinematics equation of the manipulator is derived.The inverse kinematics formula of the manipulator is solved by using the principle of inverse matrix transform.Based on Monte Carlo method,the robot toolbox is used to model the parameters of the manipulator in Matlab,and the program is used to simulate the end reachable points of the manipulator.The velocity Jacobian matrix and angular velocity Jacobian matrix of the robotic arm were solved using the velocity derivation formula of the robotic arm.Then the statics equation and dynamics equation of the manipulator are derived by using Newton Euler recurrence equation.Kinematics and statics analysis are carried out for the end gripper.The statics simulation software Ansys is used to analyze the statics of the end gripper under different load conditions.Finally,the end effector of the robot is analyzed in kinematics and dynamics.Use the dynamic simulation software Adams to simulate the cardiopulmonary resuscitation operation of the end effector,and obtain various velocity,acceleration,displacement,and torque parameters of the end effector.Collaborate with Matlab mathematical tools to conduct theoretical simulation of the formula,compare it with Adasm simulation data,and create a table.Finally,a robot was used to simulate outdoor cardiopulmonary resuscitation operations and collect data to create a table.The data was analyzed and a conclusion was drawn on the feasibility of the robot.