介护机器人概念设计与运动学仿真

Conceptual design and motion simulation of nursing care robot

目的:设计一种新型介护机器人,为灾害、战争、伤病等因素造成的下肢伤残或行动不便的人员提供换乘转运的方法。方法:该介护机器人由移动模块、支撑模块、传动模块和控制模块组成,主要实现移动、升降、伸缩、旋转4种运动方式。采用钢丝绳传动的方式,通过调节双支撑臂间的距离和与地面的角度完成转运任务。采用ADAMS软件对介护机器人双臂的工作过程进行仿真。结果:仿真结果表明,在转运过程中,人体上肢最大加速度为1.75 m/s2,双臂旋转角度满足使用要求,能够安全、舒适地保障被护理人员。结论:该介护机器人舒适度高、操作简便、所需人员少、可靠性强,可有效帮助患者完成日常的转运工作,利于行动不便人员的移动和外出,同时避免了转运过程中的二次伤害,一定程度上缓解了护理人员的工作压力。

Objective To develop a new type of nursing care robot for the transfer of the disabled with lower extremity disability or mobility difficulties due to disasters,war,injuries,diseases and etc.Methods The robot was composed of four modules of moving,support,transmission and control,and had four movement modes of advancing and retreating,lifting up and down,expansion and contraction as well as rotation.The patient transfer was completed by adjusting the distance between the two support arms and the angle with the ground in the way of wire rope transmission.ADAMS software was used to simulate the working process of the two arms of the robot.Results Simulation results showed that during the transfer the maximum acceleration of the upper limb was 1.75 m/s2 and the rotation angle of the two arms met the desired requirements.Conclusion The nursing care robot gains advantages in patient comfort,easy operation,low manpower requirement and high reliability,which avoids secondary injury during transfer and decreases the working pressure of the nursing staff.