四臂医疗转运机器人设计及仿真平台搭建

Design of Medical Transfer Robot with Four Arms and Build of Robot Simulation Platform

针对医护人员短缺问题提出一种新型四臂医疗转运机器人,该机器人可在病床和轮椅之间转运行动不便的病人。对机器人结构进行设计,对机械臂进行正逆运动学分析。为研究机器人的控制算法,利用Webots软件搭建机器人仿真平台,在Webots中建立仿真工作环境、机器人模型和病人模型,编写底层控制器;利用Qt开发带人机界面的上层控制器,并通过TCP/IP与底层控制器进行信息交互。通过病人起坐仿真实验,验证了仿真平台的可行性,验证了机器人结构的可行性,为该机器人的后续研究奠定了基础。

In view of the shortage of nursing stuff,a new type of medical transfer robot with four arms which could conduct patient transfer between bed and wheelchair was proposed.The structure of the robot was designed,and the forward and inverse kinematics analysis of the arm was completed.In order to study the control algorithmof the robot,a simulation platform was built by using Webots.The model of the robot,the patient and the environment were built,and the bottom controller was also programmed.The upper controller with human-machine interaction interface was developed by using Qt,which was a cross-platform software development environment,and the TCP/IP protocol was used to communicate with the bottom controller.The feasibility of the simulation platform and the structure of the robot was verified through the patient sitting up simulation experiment.The simulation platform lays a foundation for control strategy research of the robot.