Abstract
Life care for disabled or semi-disabled elderly has become an increasingly common problem in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological needs of patients, is investigated and designed. The following tasks are conducted: (1) the mecanum wheel is adopted as the executive device of the walking mechanism, and its kinematics is analyzed in detail. (2) A five-link mechanism with single degree of freedom is proposed to realize the folding motion of the robot. Through the minimum conclusive area method, the optimal sizes of the armrests link and the side link are 507.9, and 332.5 mm, respectively. Based on the force analysis of the linkage mechanism, six torsion springs and RV (rotate vector) reduction motor are used as the driving device, which reduces the driving torque of the motor. (3) Based on the STM32 (STMicroelectronics 32-bits Microcontroller) chip, and combined with the theoretical analysis, the mechanical structure and the control system of the whole prototype are designed, and the feasibility of each module is verified by experimental research. The results confirm that the proposed robot has good performance, and that the control algorithm for the walking mechanism and the lifting mechanism are suitable.
Highlights
It is generally known that population aging is a global phenomenon because of the increasing levels of health care
The robot consists of two main parts, namely, the design of the mechanical structure and the design of the control system
The mecanum wheel, which is mounted in the case of the walking wheel, is connected to NMRV040 turbine worm reducer by the synchronous wheel and and the synchronous belt; is connected to NMRV040 turbine worm reducer by the synchronous wheel the synchronous connected to NMRV040 turbine worm reducer by the synchronous wheel and the synchronous belt; and the motor is linked to the turbine worm reducer by P52HA
Summary
It is generally known that population aging is a global phenomenon because of the increasing levels of health care. The research technology of humanoid assistive robot is advanced, but it is expensive and is far away from industrial application It has always been a difficult problem for patients to go to the toilet. The robot could transform between wheelchair and stretcher In wheelchair form, it could move autonomously, so that the elderly can complete the basic daily activities such as going to the bathroom and outdoors. In stretcher form, it could automatically adjust the height and dock with the bed. The robot can work with transport device to move patient between bed and stretcher which promote comfort and prevent harm to patients
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