Structure Design and Trajectory Planning Of Meal-assistance Robot

In order to meet the demand for autonomous feeding of people with upper limb dysfunction, a meal-assistance structure which is composed of modular lightweight robot arm, dexterous feeding hand and rotating plate was designed. The kinematics model of the meal-assistance robot is established by the Modified D-H method, and the forward and inverse kinematics are solved. Based on the variation of the robot's teaching posture parameter, the working mission segments of the robot were divided into four segments and the motion trajectory of the robot was planned by quintic B-spline. The trajectory planning result shows that the joint curve is smooth and continuous, the trajectory of the end of the spoon is stable, and the posture varys are smooth as expected.