天津工业大学学报2016，Vol.35Issue(3)：78-83,88,7.DOI:10.3969/j.issn.1671-024x.2016.03.015
一种全方位护理移动机器人的结构设计与运动学分析
Structure design and kinematics analysis of an omni-directional nursing mobile robot
摘要
Abstract
Based on the environmental background, a service robot was designed. Each part of the robot was constructed by solidworks. The dynamic simulation was done in ADAMS for the virtual prototype and the verification to the motor selection was completed; Upper limb kinematics model was set up by using D-H method and solutions to the forward&inverse kinematics of the robot was obtained. By building the collision model of arbitrary arm links of double arms, the model of collision check factor was suggested and the better scheme was selected for avoiding collision, solving the analysis of inverse kinematics for double arms under the constraint condition. Based on Monte Carlo method, the robot′s working space was planned in Matlab, providing the basis for identifying the robot configuration, parameters, and the rod length optimization. According to the running stability, application range and bearing capacity in specific environment, the walking mode of the mobile robot was optimized, adopting the omni-directional mobile way with the complete constraint structure, and the optimal layout was picked out by calculating the Jacobian matrix rank of the six typical layouts, improving the stability of the robot in motion process.关键词
全方位护理/护理机器人/移动机器人/结构设计/运动学分析/双臂逆解分析/工作空间Key words
omni-directional nursing/nursing robot/mobile robot/structure design/kinematics analysis/inverse kine-matics analysis of double arms/working space分类
信息技术与安全科学引用本文复制引用
贠今天,武爱华,桑宏强..一种全方位护理移动机器人的结构设计与运动学分析[J].天津工业大学学报,2016,35(3):78-83,88,7.基金项目
国家自然科学基金项目（51205287）；天津市高等学校科技发展计划项目 （）
