Design Optimization and Control Analysis of Mechanical Arm Equipped on Wheelchair

Gui Bin Luo; Can Can Zeng; Li Da Zhu

doi:10.4028/www.scientific.net/AMR.983.363

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 983Design Optimization and Control Analysis of...

Design Optimization and Control Analysis of Mechanical Arm Equipped on Wheelchair

Abstract:

Aiming at the phenomenon that our country has a large number of disabled due to illness or accident while the corresponding assistive devices is extremely deficient, we have designed a kind of mechanical arm which is intended to be equipped on wheelchair. We adopt articulated mechanical arm with multi-DOF as its mechanical structure, and choose MCU as the main controller; therefore it can make all kinds of flexible action to achieve a variety of functions. In order to improve the accuracy of manipulator, based on experimental results, we optimize the mechanical arm’s structure, improving its strength and stiffness; in order to realize the motion control of the manipulator, the kinematics analysis is conducted, when solving the mechanical arm’s anthropomorphic action problem, we set key points and then optimize the trajectory with linear interpolation, at last achieve anthropomorphic movement.

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Periodical:

Advanced Materials Research (Volume 983)

Pages:

363-367

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.983.363

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Online since:

June 2014

Authors:

Gui Bin Luo, Can Can Zeng, Li Da Zhu*

Keywords:

Four DOF Mechanical Arm, Motion Control, Structural Optimization, Wheelchair

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