Multi-joint aged and disabled helping wheelchair mechanical arm and kinematical modeling method based on spinor theory

Abstract

The invention discloses a multi-joint aged and disabled helping wheelchair mechanical arm and a kinematical modeling method based on a spinor theory, and belongs to the field of robot kinematics analysis method research. The kinematical modeling is performed on a wheelchair mechanical arm through an index matrix form of the spinor theory; firstly, a base coordinate system of an initial pose and atool coordinate system are built; and then, kinematics parameters of the wheelchair mechanical arm are determined by the base coordinate system and the tool coordinate system to finish building of a forward kinematics model. According to the structural form of the wheelchair mechanical arm and the motion mode of each joint, the wheelchair mechanical arm is treated as an inverse kinematics form ofa plane two-rod robot to realize the joint motion quantity solving of the mechanical arm to finally finish the inverse kinematics solving analysis. Through the mode of combining the geometric description with the spinor theory, the kinematics solving algorithm is simplified as the algebraic equation set solving process, and a new more-convenient modeling solving method is provided for real-time motion control of the wheelchair mechanical arm.

Description

technical field [0001] The invention belongs to the field of robots for helping the elderly and the disabled and the research field of robot kinematics analysis methods, and specifically relates to a structural form of a wheelchair mechanical arm based on rope transmission and a kinematic modeling step of the wheelchair mechanical arm based on screw theory. Background technique [0002] Robot kinematics is to solve the kinematic relationship between each joint of the robot and the corresponding rigid bodies of the robot, while the screw theory uses the exponential projection of the matrix to describe the motion of the rigid body. As early as the early 19th century, Chasles had proved that the motion of a rigid body from one position to another can be obtained by rotation about a certain line plus a movement parallel to the line. This combined motion is also called screw motion, and the infinitesimal amount of this screw motion is called a motion screw. This is the theoretic...

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Problems solved by technology

[0005] Aiming at the problems of complex driving structure, large volume and self-weight of the traditional wheelchair mechanical arm, and inconvenient installation and use on the wheelchair mobile platform, the present invention discloses a robot that can realize the tasks of helping the elderly and the disabled based on the principle of the lasso-type flexible rope transmission mechanism. Based on the description of the structure of the wheelchair manipulator and the principle of the rope transmission of the manipulator, a kinematics modeling method of the wheelchair manipulator based on screw theory is proposed

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