CAJ | 학술논문

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．
위해결노년인화잔질인출행불편적문제，제출료일충평지루제량용적조행궤기인설계방안，채용륜족식결구실현파루제공능．용R ．Morales방법진행정、역운동학분석，계산출궤기인질심급각관절위이궤적．용Roberson‐Wittenburg방법추도출계통적동역학방정，장역운동학해대입동역학모형중구득각관절소수적구동력구．동시재ADAMS중건립허의양궤모형，진행운동학화동역학방진，득도적궤기인질심위이궤적화각관절구동력구여MATLAB적계산결과일치，험증료설계방안적가행성화이론추도적정학성．
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 .