中国机械工程2016，Vol.27Issue(17)：2304-2309,6.DOI:10.3969/j.issn.1004-132X.2016.17.006
轮式移动仿人护理机器人运动稳定性分析
Analysis of Motion Stability of a Mobile Humanoid Nursing Robot
摘要
Abstract
When a nursing robot assisted medical staff to take good care of the patients,the mo-tion stability of the robot was the most concern,which was directly related to the success or failure of the nursing tasks.When the nursing robot lifted the patients with arm and waist,tilting and sliding would most likely to occur.Herein,an omni-directional mobile humanoid nursing robot was taken as the research object,and the motion stability was analyzed from two aspects of static and dynamic.Un-der the conditions of no load and low speed motion,centre of gravity projection method was used to analyze the static stability;under the load conditions,the theory of ZMP combined with the theory of recursive Newton Euler algorithm was used to analyze the dynamic stability.ADAMS was used to simulate the robot’s movement process,which provides the theoretical and simulation basis for the nursing robot stability.关键词
护理机器人/运动稳定性/重心投影法/零力矩点/递归牛顿-欧拉算法Key words
nursing robot/motion stability/centre of gravity projection method/zero moment point(ZMP)/recursive Newton-euler algorithm分类
信息技术与安全科学引用本文复制引用
贠今天,邓利浩,桑宏强..轮式移动仿人护理机器人运动稳定性分析[J].中国机械工程,2016,27(17):2304-2309,6.基金项目
国家自然科学基金资助项目(51205287) （51205287）
天津市高等学校科技发展基金计划资助项目(20110402) （20110402）
