伤员运载机器人楼梯环境运动稳定性

针对伤员运载机器人在楼梯环境的运动稳定性问题，分析机器人各关节运动对机器人运动稳定性的影响，建立机器人运动学模型。结合稳定锥方法与伤员运载机器人实际结构，通过MATLAB软件计算分析重心调整机构对机器人稳定性的影响，验证机器人通过重心调整后上楼梯运动的稳定性。仿真和实验表明，伤员运载机器人的重心调整机构能够有效的调整机器人的重心，调整后的机器人能够稳定的在楼梯环境中将伤员运出。

Study on the environmental motion stability of the staircase of the casualty carrying robot

Aiming at the problem of motion stability of the wounded carrying robot in the staircase environment, the influence of the joint movement of the robot on the motion stability of the robot was analyzed, and the robot kinematics model was established. Combined with the stability cone method and the actual structure of the casualty carrying robot, the influence of the center of gravity adjustment mechanism on the stability of the robot is calculated and analyzed by MATLAB software, and the stability of the stair movement of the robot after the center of gravity adjustment is verified. Simulation and experiments show that the center of gravity adjustment mechanism of the casualty carrier robot can effectively adjust the center of gravity of the robot, and the adjusted robot can stably transport the injured out in the staircase environment.