姿态变换护理机器人的轨迹规划与仿真  

Trajectory planning and simulation of a multi-gesture transformation nursing-care robot

作　　者：董文超 张争艳[1,2] 马聪 王厚程 DONG Wenchao;ZHANG Zhengyan;MA Cong;WANG Houcheng(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;National Technological Innovation Method and Tool Engineering Research Center,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]国家技术创新方法与实施工具工程技术研究中心,天津300401

出　　处：《重庆理工大学学报（自然科学）》2022年第10期176-184,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家重点研发计划(2019YFB1312500)。

摘　　要：目前市场上的护理机器人存在价格昂贵、功能单一、普及率较低等问题。为实现下肢功能障碍患者坐-躺-站3种姿态间的变换,研制了一款新型姿态变换护理机器人。基于机器人的运动学分析,运用五次多项式插值法对姿态变换护理机器人的运动轨迹进行了优化,建立ADAMS虚拟样机并进行了运动学仿真,仿真表明优化后的运动轨迹合理。最后制作了机器人样机,优化后的运动轨迹能够使被护理人更舒适的进行姿态变换,提高了机器人在工作过程中的稳定性,表现出良好的性能。The current nursing-care robots on the market have problems such as high prices,single function,and low penetration rates.Thus,a prototype nursing-care assistant robot is developed to assist patients with lower limb dysfunction to alter between sitting-lying-standing postures.Based on the kinematics analysis,the motion trajectory of the multi-gesture transformation nursing-care robot is optimized by the quintic polynomial interpolation method,and the ADAMS virtual prototype is established to conduct kinematics simulation.The simulation results show that the optimized motion trajectory is more reasonable.Finally,a robot prototype is made to compare the comfortability of the care receivers before and after the robot’s trajectory optimization.The experiment results show that the optimized trajectory will make the care receivers more comfortable to switch their postures.The optimization also improves the stability of the robot in the working process,so that it shows a better performance.

关 键 词：护理机器人 姿态变换 轨迹规划 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]