床椅一体化机器人设计与实现  

Design and Implementation of an Integrated Bed and Chair Robot

作　　者：雷翔霄[1,2] 唐春霞 胡璇[1,2] LEI Xiang-xiao;TANG Chun-xia;HU Xuan(School of Electronic Information Engineering,Changsha Social Work College,Changsha 410004,China;Intelligent Rehabilitation Robot and Auxiliary Equipment Engineering Technology Research Center of Hunan,Changsha 410004,China)

机构地区：[1]长沙民政职业技术学院电子信息工程学院,长沙410004 [2]湖南省智能康复机器人与辅具器械工程技术研究中心,长沙410004

出　　处：《科学技术与工程》2024年第17期7177-7184,共8页Science Technology and Engineering

基　　金：湖南省自然科学基金(2024JJ8074);中国残联课题(2023CDPFAT-20);湖南省教育厅科研课题(22C1440);长沙民政职业技术学院教授、博士科研项目(2023JB02)。

摘　　要：针对床椅机器人在室内狭小空间灵活行走的问题,研制一款四轮独立驱动转向的床椅一体化机器人。根据室内狭小空间的转向需求,确定了底盘总体布局方案和主要技术参数。对重要部件进行了理论计算、有限元分析,对驱动轮支架进行了应力及形变分析;在ADAMS软件中建立了床椅机器人的动力学仿真模型,进行了稳定性分析。仿真结果表明,驱动轮支架的强度和刚度均满足设计要求,床椅机器人的各项指标符合国家相关标准的规定。样机试验进一步验证了仿真分析的结果,确认了床椅一体化机器人的稳定性、越障性能和在室内狭小空间的转向性能。To address the problem of the flexible walking of bed chair robots in narrow indoor spaces,a four wheel independent drive steering bed chair integrated robot chassis was developed.Based on the steering requirements of indoor narrow spaces,the overall layout plan and main technical parameters of the chassis have been determined.Theoretical calculations and finite element analysis were conducted on important components,and stress and deformation analysis was conducted on the drive wheel bracket.A dynamic simulation model of the bed chair robot was established in ADAMS software and stability analysis was conducted.The simulation results show that the strength and stiffness of the driving wheel bracket meet the design requirements,and the various indicators of the bed and chair robot comply with the relevant national standards.The prototype experiment further validated the results of simulation analysis,confirming the stability,reliability,and steering performance of the bed chair integrated robot in narrow indoor spaces.

关 键 词：床椅机器人 机器人底盘 独立驱动转向 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TH132[自动化与计算机技术—控制科学与工程]