Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Dedicated robot

Kinematics Simulation and Location of the Aid Dining Robot

Author SongZhiGang
Tutor ZuoXiangRu
School Xi'an University of Technology
Course Mechanical Design and Theory
Keywords Aid Dining Robot kinematics Analysis MATLAB ADAMS Location method
CLC TP242.3
Type Master's thesis
Year 2009
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After nearly two decades’rapid developing in robot technology, the aid dining robot, which belonged to Rehabilitation robot, is becoming more and more popular in concerning and researching as the rapid aging of the world population, whose daily work and life is becoming urgent, In view of this, based on massive literature review and Project requirements, a small size, flexible 5 dof serial aid dining robot that can achieve the function of food feeding is designed by the author.This paper reaserches and designs aid dining robot’s gross structure based on the principles of organization model, and analyzes the bionics to complete aid dining robot’s structure size thoroughly.Based on determining the structure size of the robot, its bar coordinate system is configured by using the D-H theory, the forward kinematics and inverse kinematics model is achieved resorted to Homogeneous Transform, its Jacobian matrix is acquired by using differential transform method; Workspace analysis is done by using coordinate transformation matrix and simulation analysis is acquired by MATLAB, the actual workspace graph is achieved.the above procedures provide the basis of structural design, Kinetic Analysis, motion control of the aid dining robot. kinematics simulation of the robot arm is finally achieved by MATLAB and ADAMS,its results is contrasted and analyzed, this paper make attempt at using virtual prototyping in mechanical design which also accumulate valuable experience.What’s more, aiming at better and more precise feed motion, the location of user’s mouth must be located firstly. There are various methods to locate user’s mouth and their accuracy is variable. Preliminary study of high accuracy double-eye positioning method is achieved in this paper:user’s face is recognized first by face recognition method, the user’s mouth is finally located by the locate method of’eye first mouth second’.the test results indicate that the face recognition algorithm and mouth location algorithm this paper used has a higher detect speed and detection rate.

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