一种平地楼梯两用助行机器人的建模与仿真分析

摘要

Considering the travel inconvenience that the elderly or disabled persons w ere facing ,a multifunctional walking assistant robot for both stair climbing and plaint moving was putting for‐ward ,which adopted the foot and wheel patterned structure .The kinematic model was estab‐lished by R .Morales method ,with which the trajectories of robot’s center of mass and joint an‐gles during the ascending process w ere calculated .T he dynamic model w as established by means of Roberson‐Wittenburg method ,and the driving torque of each joint was calculated by taking in‐verse kinematics solutions into the dynamic model .A virtual prototype was developed in ADAMS for kinematic and dynamic simulations .To validate the feasibility of the design and the correct‐ness of the theoretical inference ,the simulation results of the trajectory of robot’s center of mass and the joint driving torques were compared to the results of MATLAB .%为解决老年人和残疾人出行不便的问题，提出了一种平地楼梯两用的助行机器人设计方案，采用轮足式结构实现爬楼梯功能．用R ．Morales方法进行正、逆运动学分析，计算出机器人质心及各关节位移轨迹．用Roberson‐Wittenburg方法推导出系统的动力学方程，将逆运动学解代入动力学模型中求得各关节所需的驱动力矩．同时在ADAMS中建立虚拟样机模型，进行运动学和动力学仿真，得到的机器人质心位移轨迹和各关节驱动力矩与MATLAB的计算结果一致，验证了设计方案的可行性和理论推导的正确性．