一种新型服务机器人的设计与分析

Design and Analysis of a New Service Robot

随着老龄化社会的到来和机器人技术的发展,服务机器人成为了机器人领域的研究热点之一。以提高服务的舒适性为切入点,设了一款新型服务机器人并对其机械臂轨迹规划进行了研究。首先,结合轮式与足式的优点,设计了一种新型轮足式的服务机器人底盘,并且采用麦克纳姆轮进一步提高服务机器人的运动性能;其次,以人臂为参考对象,确定了服务机器人机械臂的自由度,并建立了服务机器人整体三维模型;最后,在MATLAB中建立机械臂模型,分析了其直线插补运动与曲线插补运动。仿真实验表明,机械臂运动时各关节的角位移、角速度和角加速度都是光滑、无跳变现象,即所设计的机械臂无论是做直线运动还是曲线运动都能够平稳的工作。

With the coming of an aging society and the development of robot technology,service robots has become one of the research hotpots in robotics.To improve the comfort of service,a new service robot is designed,and the trajectory planning of its manipulator is studied.Firstly,the advantages of being wheeled and footed are combined,a new wheeled-footed robot chassis is designed,and the Mecanum wheel is used to improve the motion performance of the service robot.Secondly,the human arm is taken as the reference object,the degree of freedom of the service robot manipulator determined,and the 3D model of the service robot established.Finally,the robot arm model is established in MATLAB,and the linear interpolation motion and curve interpolation motion are analyzed.The simulation results show that each joint’s angular displacement,angular velocity,and angular acceleration are smooth and coherent.In this way,the designed robotic arm can work stably,both in the linear motion and the curvilinear motion.