助老伴行机器人的设计开发

Design of Elderly-Assistant and Walking-Assistant Robot

老龄化的加剧使得社会上体力衰弱、行走不便的老年人数量越来越多,针对老年人群的生活需求设计开发了一台助老伴行机器人。通过对老年人日常生活面临的困境的分析,确立了机器人的主体功能,并以此为基础对机器人进行了总体设计;在机器人总体设计的基础上,完成了对该机器人的整体结构尺寸设计,以及各功能部件的详细设计;同时还对结构姿态变换控制系统和基于触觉力的人机交互控制系统进行了设计,采用双电机差速驱动控制方法,实现机器人的前进、后退、转弯等动作。最后,搭建了结构姿态变换和在线行走驱动系统两实验平台,经试验验证,机器人结构姿态变换控制系统和人机交互控制系统满足设计要求,在线行走驱动准确率达到了96.1%,满足使用要求。

The increase of aging has led to a growing number of elderly people who are physically weak and have difficulty in walking. An elderly assistant and walking assistant robot is designed in this paper. The major functions of the robot were firstly determined by analyzing daily difficulties the elderly people faced with, based on which, the design of the robot was conducted. Then, more detailed designs on the overall structure, functional units, two control systems for robot＇s posture transformation and human computer interaction based on tactile force were studied and conducted. A dual motor differential speed driven control method was adopted to control the robot＇s posture transformation. Finally, two experimental platforms for posture transformation of the robot＇s structure and online walking drive system were established. The results of experiments verify that the two proposed control systems can satisfy the design requirements, and the accuracy rate of online walking drive is 96.1%, which can meet the requirements for application.