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<p>To address the essential self-care needs of elderly and disabled populations, this paper introduces an innovative mechanism for a bed-chair robot and systematically investigates its kinematics and workspace. The robot features 9 degrees of freedom and integrates a robotic arm for grasping with a transformable wheelchair bed that can switch between bed and chair configurations. Utilizing a modified Denavit-Hartenberg (DH) representation, a theoretical model of the bed-chair robot’s overall structure is established, enabling pose transformations within a unified coordinate system and resolving the issue of non-uniformity in gripping and delivery positions. The comprehensive structure of the wheelchair bed robot is analyzed through forward and inverse kinematics solutions. The mechanism’s workspace is further examined, and the kinematics are validated via simulation and prototype testing. Experimental results confirm that the bed-chair robot mechanism is well-conceived, and the motion analysis is reliable, providing a robust foundation and theoretical basis for future studies on its dynamic characteristics.</p>

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Kinematic and workspace analysis of a mechanism for bed-chair robot for assisting elderly and disabled

  • 期刊论文

  • 发表日期：

    2025年4月3日

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  • Zhengkai Feng,
  • Changzhe Liu,
  • Yuanmei Dai,
  • Yifan Liu,
  • Xiujuan Sun,
  • Xiangxu Qu,
  • Chuanjiang Wang

摘要

To address the essential self-care needs of elderly and disabled populations, this paper introduces an innovative mechanism for a bed-chair robot and systematically investigates its kinematics and workspace. The robot features 9 degrees of freedom and integrates a robotic arm for grasping with a transformable wheelchair bed that can switch between bed and chair configurations. Utilizing a modified Denavit-Hartenberg (DH) representation, a theoretical model of the bed-chair robot’s overall structure is established, enabling pose transformations within a unified coordinate system and resolving the issue of non-uniformity in gripping and delivery positions. The comprehensive structure of the wheelchair bed robot is analyzed through forward and inverse kinematics solutions. The mechanism’s workspace is further examined, and the kinematics are validated via simulation and prototype testing. Experimental results confirm that the bed-chair robot mechanism is well-conceived, and the motion analysis is reliable, providing a robust foundation and theoretical basis for future studies on its dynamic characteristics.