一种智能饮食护理机器人研究

Development a Smart Feeding Assistive Robot for Eating Assist

针对目前饮食护理机器人操作复杂、价格昂贵的缺点,设计了一款新型的智能饮食护理机器人,并且通过对其运动特性的分析,验证设计的合理性。首先,根据模块化设计原理,进行总体结构设计;然后,利用SOLIDWORKS进行三维建模,并运用SOLIDWORKS Motion对机器人运动餐碗旋转运动、升降部件升降运动、悬臂部件伸缩旋转联动运动进行运动仿真,仿真的结果发现运动餐勺在饮食护理过程中会有抖动现象;之后,本文试制了试验样机,并对样机进行了硬件去抖和软件去抖对比实验,实验结果证实了机器人在饮食护理过程中采用硬件去抖和软件去抖结合的方法,运动更加平稳。该智能饮食护理机器人设计合理、操作简单,能够帮助上肢功能障碍者进行饮食。

Considering the smart feeding assistive robot’s disadvantages as complicated and expensive operation,a new type of rotary feeding assistive robot was designed,then,its kinematic characteristics were analyzed and various degrees of freedom torque were calculated to verify the rationality of the design.Firstly,the overall structure of the robot was designed under the modular design principle.Then,the robot’s 3 D model was established by SOLIDWORKS,and the kinematics simulations of the motion of the rotary motion of the moving plate,the lifting motion of the lifting part,and the telescopic—rotating motion of the cantilever part were done with SOLIDWORKS Motion respectively.The results of the simulation show that the dithering of the moving spoons in the process of dietary nursing.After that,the experimental prototype was trial-produced in this paper,and a comparison experiment was carried out on the hardware de-shake and software de-shake.The experimental results confirmed that the robot adopted the combination of hardware de-shake and software de-shake in the diet care process,and the movement was more stable.The rotary feeding assistive robot is designed reasonably and operated easily,and can help people with upper limb dysfunction to eat.