When the elderly-assistant robot is helping the old person to walk outdoors, it may meet uneven road or instantaneous impact. These situations will give the robot impact vibration and impart the old person the segmental vibration of the hands. In this paper, impact vibration resistance characteristics of the robot and walking comfort of the elderly due to impact are analyzed in order to study whether the elderly-assistant robot meets the comfort requirement of the elderly or not. First of all, the forced vibration of the front and rear wheels of the robot under different displacement input is analyzed and the 2-DOF vibration model, including double shaft vertical vibration and pitching vibration, of the robot is established. Then, the vibration model of the hands of the old person is established by using the geometrical characteristics of the robot. Finally, Matlab / Simulink software is used to simulate the model for impact resistance vibration characteristics of the robot and walking comfort of the old person for both situations such as instantaneous impact and uneven road. The results show that the vibration amplitude and vibration velocity of the hands of the old person are small under both the situations. Thus, the elderly-assistant robot meets the elderly comfort requirement of operation by hands. The research process provides a theoretical basis for analysis of the related issues for the same kind of robots.%由于助老机器人在户外辅助老年人行走过程中会遇到路面不平或瞬时冲击,不仅会对助老机器人本身产生冲击振动影响,更重要的是还会引起由此带来老年人手部的局部振动.为了研究助老机器人是否满足老年人的舒适性要求,对助老机器人耐冲击振动特性及其对老年人伴行舒适性的影响进行了较深入的分析.首先,分析助老机器人的前、后轮在不同位移输入下的强迫振动,建立助老机器人的双轴垂直和俯仰两自由度振动模型;然后,利用助老机器人的几何关系建立老年人的手部振动模型;最后,采用MATLAB/Simulink 软件分别从瞬时冲击和地面不平两类情况对助老机器人耐冲击振动特性及其对老年人伴行舒适性的影响进行振动模型仿真分析.结果表明:两类情况下老年人手部的振动幅值和振动速率均较小,机器人能满足老年人的手部操作的舒适性要求.其研究过程为分析同类机器人相关问题提供了理论基础.
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