助餐机器人的机构设计与控制模式研究  

Design of the Mechanism and Research of Control Model of the Aid Dining Robot

作　　者：王岚[1] 裴立坤 李彦涛[1] 高峻 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《机电一体化》2007年第5期62-64,68,共4页Mechatronics

摘　　要：研究了一种新型机器人——助餐机器人,它通过模拟正常人上肢取食时的动作,帮助手部活动功能丧失的人进食。介绍了它的机械结构和工作原理,利用MATLAB/SimMechanics建立助餐机械臂的运动学模型,分析了其作业空间。设计了机器人自动控制的3种模式。经过实验,样机能够完成对残疾人的饮食护理。An aid dining robot is researched as a new kind of the robots. It is helpful to the patients who can not move their upper limbs as normal man to eat food by simulating the motion of normal human＇s upper limbs. This paper have elaborated the robot＇ s construction and working principle, with MATLAB/ Simulink system design tools established the kinematics models, analysed its workspace. Three auto control models are designed. By a great deal of experiment, the prototype has realized the function of helping the patients to eat food by oneself.

关 键 词：助餐机器人 机构设计 控制模式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]