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.
出处
《机电一体化》
2007年第5期62-64,68,共4页
Mechatronics
关键词
助餐机器人
机构设计
控制模式
aid dining robot design of the mechanism control models
