Structural design and performance analysis of an auxiliary dining robot.
10.7507/1001-5515.202105088
- Author:
Shutong LI
1
;
Jinzhuang XIAO
1
;
Gong MENG
2
;
Xiaoshuo SHI
3
;
Lianwu GUAN
4
;
Yan WANG
1
Author Information
1. College of Electronic Information Engineering, Hebei University, Baoding, Hebei 071002, P. R. China.
2. Beijing Aerospace Automatic Control Institute, Beijing 100854, P. R. China.
3. Department of Stomatology, Affiliated Hospital of Hebei University, Baoding, Hebei 071000, P. R. China.
4. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China.
- Publication Type:Journal Article
- Keywords:
Dining function;
Robot;
Structural design;
Work space
- MeSH:
Computer Simulation;
Equipment Design;
Hand;
Humans;
Movement;
Robotics/methods*
- From:
Journal of Biomedical Engineering
2022;39(1):149-157
- CountryChina
- Language:Chinese
-
Abstract:
An auxiliary dining robot is designed in this paper, which implements the humanoid feeding function with theory of inventive problem solving (TRIZ) theory and aims at the demand of special auxiliary nursing equipment. Firstly, this robot simulated the motion function of human arm by using the tandem joints of the manipulator. The end-effector used a motor-driven spoon to simulate the feeding actions of human hand. Meanwhile, the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action. Moreover, the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom (DOF) configuration. The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition. Finally, the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.
