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With the rapid acceleration of population aging in China, the demand for feeding assistance among individuals with disabilities is becoming increasingly urgent. However, current feeding robots face several limitations such as poor adaptability to complex environments and safety concerns due to rigid structures. In this paper, a new six-degree-of-freedom feeding robot was developed that integrates obstacle avoidance path planning and compliance control. The robotic arm was designed employing a Bi-directional Rapidly-exploring Random Tree (Bi-RRT) algorithm to generate collision-avoidance trajectories, while inverse kinematics was solved using the Denavit-Hartenberg (D-H) parameter. At the control level, an impedance model-based compliance control strategy was introduced, and its compliant behavior under sudden external forces was verified through dynamic simulations. Prototype experiments demonstrated that the robot could effectively avoid obstacles and respond compliantly to external interference. While the robot achieved a 100% feeding success rate with solid and semi-liquid foods, it occasionally experienced spillage when feeding liquids due to structural limitations of the end-effector. This paper provides both a theoretical framework and practical guidance for enhancing the safety and environmental adaptability of feeding robots. Future work will focus on optimizing the end-effector design to further improve performance with liquid foods.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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