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《China Mechanical Engineering》 2016-17
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Analysis of Motion Stability of a Mobile Humanoid Nursing Robot

Yun Jintian;Deng Lihao;Sang Hongqiang;Advanced Mechatronics Equipment Technology Tianjin Area Major Laboratory;Tianjin Polytechnic University;  
When a nursing robot assisted medical staff to take good care of the patients,the motion 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.Under 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.
【Fund】: 国家自然科学基金资助项目(51205287);; 天津市高等学校科技发展基金计划资助项目(20110402)
【CateGory Index】: TP242
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