一种护理机器人运动学分析与试验  

Kinematic analysis and experiment of a nursing robot

作　　者：陆晨迪 苗新刚[1] 汪苏[1] LU Chen-di;MIAO Xin-gang;WANG Su(Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing University of Civil Engineering and Architecture,Beijing 100044)

机构地区：[1]北京建筑大学北京市建筑安全监测工程技术研究中心,北京100044

出　　处：《机械设计》2020年第11期94-101,共8页Journal of Machine Design

基　　金：机器人仿生与功能研究北京市机器人重点实验室资助课题(BZ0337)。

摘　　要：为满足老弱病残群体的实际需求,在完成护理机器人设计的基础上,重点针对双臂结构这一关键部分展开研究。对护理机器人进行整体方案设计;分析关节模块的转动约束,得到各关节的转角范围。采用改进D-H建模法建立护理机器人数学模型,并进行运动学分析和研究。对护理机器人进行控制系统设计;基于Twin CAT3软件,编写PLC运动控制程序,调用电子齿轮并设定耦合系数,使护理机器人双臂各轴电机实现耦合控制,完成样机抱举试验。观测验证了护理机器人控制系统设计的有效性,为后续优化工作打下基础。In this article,in order to meet the needs of the elderly,the weak and the sick,a nursing robot is designed. With the focus on the key part of the robot’s dual arms,the overall solution is worked out. The analysis is conducted on the rotational constraints of the joint module,in order to identify the angular range of each joint. The mathematical model of the nursing robot is set up with the aid of improved D-H modeling,and the kinematic analysis is carried out. The control system of the nursing robot is designed. Based on the Twin CAT3 software,the PLC motion-control program is formulated,the electronic gear is called,and the coupling coefficient is set,so that coupling control is realized on axis motors on the nursing robot’s dual arms and the lifting test is completed for the prototype. The experimental results verify that the design of the nursing robot’s control system is effective,which will lay a solid foundation for future optimization.

关 键 词：护理机器人 改进D-H建模 运动学分析 主从控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]