Design and Kinematics Research of Desktop Service Robot

Due to the disappearance of population dividend, service robots are showing more and more advantages. Introducing robots into the restaurant service process can bring great economic and social benefits. Robot kinematics is the basis of robot motion control. It is important to build accurate kinematic models and dynamic models. In this paper, based on Lagrange equation, the kinematic and dynamic models of a dining desktop service robot were established. The motion of the robot on the horizontal plane was proposed, and the workspace of the robot was given. The influence of structural parameters on driving joint moment of desktop service robot was introduced. This paper is expected to provide some reference for the mechanism design of desktop service robots as well as the selection and determination of their main parameters.