滚动球式医疗服务型机器人动力学建模与仿真  

Dynamic Modeling and Simulation of a Rolling Ball Type Medical Service Robot

作　　者：刘怡[1] 钟文敏[1] LIU Yi;ZHONG Wen-min(First Affiliated Hospital of Gannan Medical College,Jiangxi Ganzhou341000,China)

机构地区：[1]赣南医学院第一附属医院,江西赣州341000

出　　处：《机械设计与制造》2020年第5期285-288,共4页Machinery Design & Manufacture

摘　　要：针对当前医疗服务型机器人运动不灵活、稳定性差等问题,设计了一种滚动球式医疗服务型机器人,该机器人在结构设计上增加了瞬时失电保护装置,有效的提高了机器人在启停及制动状态下系统的稳定性。采用Lagrange-Routh方程建立滚动球式机器人系统的动力学模型,通过引入Lagrange乘子能够很好的解决滚动球式机器人系统的非线性、非完整性等问题。最后,利用MATLAB/SIMULINK软件对所建立的动力学模型进行了仿真分析,结果表明,所建立的动力学模型是准确的,为后续结构优化和控制系统的设计提供了理论依据。In view of the problems of inflexibility and poor stability of the current medical service robot,A kind of rolling ball type medical service robot is designed. An instantaneous loss of power protection device was added to improve the stability of system in the condition of start-stop and braking. Lagrange-Routh equation was used to establish dynamic modeling of newball wheel movement robot and Lagrange multiplier was advised to solve its non-liner and non-holonomic well. Finally,the established dynamic model was taken into numerical stimulation by adoption of MATLAB/SIMULINK software. Results indicated that the established dynamic modeling was accuracy,which could provide theoretical basis for the subsequent structure optimization and designing of control system.

关 键 词：滚动球式机器人 非完整系统 动力学建模 Lagrange-Routh方程 

分 类 号：TH16[机械工程—机械制造及自动化] TH112