I (M21) need help improving relationship with my dad (M54)

Recently, my dad (m54) and I (m21) have been arguing a lot more than usual. It's beginning to take a huge toll on my mental health, and I'm sure it's affecting him, too.

I'm happy to provide more context in comments, but I do wish to briefly mention that I am mildly disabled (physically and mentally) and doing all that I can for myself, including self-management.

Long post, so tl;dr is here...

TL;DR: My dad and I are arguing a lot whenever I ask for help doing house-related chores, or really any help in general. I've tried explaining to him why I need help, have tried finding ways to do it myself (with failure), but nothing has worked. How can I be better to improve things with my Dad?

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Issue & request for advice: The arguments have been starting often after I ask for help. This is a new thing, as my dad used to offer help & learning opportunities as I was growing up.

While some helped me learn, others didn't stick as well (or I can't physically do them anymore) and I continue to need aid today, such as with loading or unloading the dishes (part of my disability is chronic pain in my legs & arms), moving heavy objects (I am unfortunately very small and not strong) + cleaning high places like the ceiling, etc.

Occasionally, I ask if he can teach or show me how to do something that I don't currently know, but that he does (vehicle-related stuff, fixing appliances, what chemicals can be used to wash certain surfaces, etc.), and so on & so forth. However, most of our arguments start when I ask for anything house-related, as our house is quite messy and I'm trying to clean it.

I've expressed to him, each time I ask, that I want to be more independent and do things entirely for myself. I want to be able to do all of the listed things on my own, but that sometimes it means asking for help first... like asking for a stool (we have none high enough at the moment) so I can clean ceilings, asking for joint/limb braces for injuries/pain (can be bought at drug stores, however I currently have no income), for cleaning supplies so I can take care of the house on my own (usually we just paper towels and water, but I know some things require better supplies), etc.

Often, these requests of mine are met with frustration, and he tells me he doesn't want to have to do everything entirely on his own. This occurs even after I tell him that I don't want that either, and that I'd be more than happy to take care of the whole house, I just need the supplies & aids to do it first, which unfortunately means he buys it (usually from a dollar store, since I don't want to ask for anything too expensive).

I have attempted to have conversations about our arguments, how they make me feel, what my intentions are, what my limits are, and so on. But nothing has changed yet. It's been months.

I have tried to do everything on my own. In most of my attempts, I've failed or injured myself. I'm trying to deal with physical & mental symptoms on my own using OTC stuff & online guidance. I've also been trying to make life easier for my dad in general. I try my best to clean w/ water, though it doesn't get far. Tried to learn things via videos & online guides... but the info doesn't stick and many of the videos aren't specific to certain things we own (appliances, tools, etc.), so I still end up pretty stuck.

Because of this all, I​ want advice:

I love my dad dearly and really want to stop arguing. I want to know how I can be better, and how I can more effectively communicate to him that I really am trying to make things easier, but my options are limited, so sometimes I have to ask him for help in getting to the intended outcome (I have tried saying this, but it hasn't worked yet).

I'm also wondering if maybe I'm actually able to do more, despite having no access to stores, etc? As I mentioned, I'm trying to handle chronic pain using ibuprofen and cold packs, and I've been managing my mental disability "symptoms" with online therapy forums as I cannot afford therapy/anything similar.

I overall really want to improve things with my dad, and I want to take relieve some stress by helping with things. I'm just unsure how to go about it. I know how difficult it can be to have a disabled family member, but I really don't want to burden him more than I am. Any advice is appreciated, but please be kind.