Structural Design of Multi-functional Caregiving & Rehabilitation Robot and Its Motion Simulation Analysis of Multi-posture Adjustment Mechanism

Aiming at the problem that the traditional care and rehabilitation robots only have a single function other than integrating the functions of life care and rehabilitation, a new multifunctional caregiving & rehabilitation robot is firstly designed in this paper, which mainly includes: the frame design of the robot, the structural design of its functional modules, and the design of the multi-posture adjustment mechanism. Then, based on the complex vector method, the forward kinematics and inverse kinematics models of the multi-posture adjustment mechanism are established for the composite motion of lifting and standing so that its influence on the motion functions of other modules is analyzed. Finally, Adams was used to simulate the kinematics of the multi-posture adjustment mechanism, and by comparing with the theoretical analysis results, it was clearly shown that the maximum value of the error was 0.00489 rad/s, which was in the acceptable range, verifying the theory analysis accuracy and the design feasibility.