伤员运载机器人楼梯环境运动稳定性  

Environmental Motion Stability of the Staircase of the Casualty Carrying Robot

作　　者：纪兆俊 李艳杰[1] 卜春光[2,3] 郎智明[2,3] 佟福奇[1] JI Zhao-jun;LI Yan-jie;BU Chun-guang;LANG Zhi-ming;TONG Fu-qi(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Innovation Institute of Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《科学技术与工程》2024年第1期267-273,共7页Science Technology and Engineering

基　　金：国家重点研发计划(2022YFB4703600,2022YFB4703602)。

摘　　要：针对伤员运载机器人在楼梯环境的运动稳定性问题,分析机器人各关节运动对机器人运动稳定性的影响,建立机器人运动学模型。结合稳定锥方法与伤员运载机器人实际结构,通过MATLAB软件计算分析重心调整机构对机器人稳定性的影响,验证机器人通过重心调整后上楼梯运动的稳定性。仿真和实验表明,伤员运载机器人的重心调整机构能够有效地调整机器人的重心,调整后的机器人能够稳定地在楼梯环境中将伤员运出。Aiming at the problem of motion stability of the wounded carrying robot in the staircase environment,the influence of the joint movement of the robot on the motion stability of the robot was analyzed,and the robot kinematics model was established.Combined with the stability cone method and the actual structure of the casualty carrying robot,the influence of the center of gravity adjustment mechanism on the stability of the robot was calculated and analyzed by MATLAB software,and the stability of the stair movement of the robot after the center of gravity adjustment was verified.Simulation and experiments show that the center of gravity adjustment mechanism of the casualty carrier robot can effectively adjust the center of gravity of the robot,and the adjusted robot can stably transport the injured out in the staircase environment.

关 键 词：运动学仿真 稳定锥 稳定性 MATLAB 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]