Innovative Structural Design and Simulation Analysis of Dual-arm Mobile Nursing Robot

In view of the carrying capacity of the nursing robot to pick up the patient, a dual-arm mobile nursing robot is designed. According to the characteristics of human body structure, the overall structure and some basic parameters of the nursing robot are determined. Combined with the current design characteristics of the mechanical arm and modular joint of the advanced dual-arm robot, the nursing robot scheme that can hold patients is proposed. A waist arm structure with 12 DOF (degrees of freedom) and an omni-directional mobile chassis with forward anti-collapse mechanism are designed by using SolidWorks. According to the D-H method, the link coordinate system of the nursing robot is established. Based on the parameters of the link coordinate system, the forward kinematics equation and the kinematics forward solution of the nursing robot are deduced. The forward kinematics of the nursing robot was verified by the simulation of MATLAB, and the results show that the design of the robot is effective.