摘要
本文设计一种新型履带式辅助机器人,该机器人配有简易可折叠式座椅,集坐、站、扶三种辅助方式为一体,便于老年人进行日常活动;同时带有生理参数采集系统,可实现日常健康监护.通过对该机器人进行运动学建模、稳定性分析及仿真,结果证明本文设计的辅助机器人具有较强的稳定性,为以后更好地对机器人进行控制提供了理论上的支持.
A new kind of crawler auxiliary robot is introduced in this paper. The robot is equipped with a simple collapsible seat. People can sit on it, stand on it, and hold on to it easily. A physiological parameters acquisition system is put on to it. People can get daily health care. Kinematics modeling, stability analysis and simulation are also made. Strong stability of the robot is proved from the results. Theoretical support is provided to better control the robot in future.
出处
《天津理工大学学报》
2013年第1期32-36,共5页
Journal of Tianjin University of Technology
基金
滨海新区科技特派员科技专项"基于Internet的移动机械手巡控系统"(SB20080074)
