一种辅助进餐机器人的结构设计与性能分析  

Structural design and performance analysis of an auxiliary dining robot

作　　者：李抒桐 肖金壮[1] 孟恭[2] 史小烁 管练武[4] 王焱[1] LI Shutong;XIAO Jinzhuang;MENG Gong;SHI Xiaoshuo;GUAN Lianwu;WANG Yan(College of Electronic Information Engineering,Hebei University,Hebei 071002,P.R.China;Beijing Aerospace Automatic Control Institute,Beijing 100854,P.R.China;Department of Stomatology,Affiliated Hospital of Hebei University,Baoding,Hebei 071000,P.R.China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,P.R.China)

机构地区：[1]河北大学电子信息工程学院,河北保定071002 [2]北京航天自动控制研究所,北京100854 [3]河北大学附属医院口腔科,河北保定071000 [4]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《生物医学工程学杂志》2022年第1期149-157,共9页Journal of Biomedical Engineering

基　　金：国家自然科学基金(61803118);河北大学高层次人才科研启动项目(521000981359);河北大学2020级校级大创项目(2020237)。

摘　　要：本文针对服务护理领域对专用辅助护理设备的需求,结合TRIZ理论思想设计一种可实现仿人喂食功能的辅助进餐机器人。该机器人本体采用串联关节型机械手臂模拟人体手臂运动,实现进餐时移位功能;末端采用电机驱动勺柄构件进行往复运动,模拟人体手部送喂动作实现进餐功能;整体采用眼在手上安装方式模拟人类视觉,实现基于视觉信息的机械手自动送喂功能。综合考虑辅助进餐机器人的喂食功能及其与人交互时的相对位置关系,满足最低自由度配置下具备空间上的运动灵活性,在此条件下确定辅助进餐机器人的结构,分析其受力情况,对具体应用场景适宜位置进行讨论说明。仿真结果表明所设计的辅助进餐机器人能够在低自由度配置下,满足工作空间运动灵活性的需求。An auxiliary dining robot is designed in this paper,which implements the humanoid feeding function with theory of inventive problem solving(TRIZ)theory and aims at the demand of special auxiliary nursing equipment.Firstly,this robot simulated the motion function of human arm by using the tandem joints of the manipulator.The endeffector used a motor-driven spoon to simulate the feeding actions of human hand.Meanwhile,the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action.Moreover,the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom(DOF)configuration.The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition.Finally,the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.

关 键 词：机器人 进餐功能 结构设计 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]