床椅一体化机器人设计与实现

针对床椅机器人在室内狭小空间灵活行走的问题,研制一款四轮独立驱动转向的床椅一体化机器人。根据室内狭小空间的转向需求,确定了底盘总体布局方案和主要技术参数。对重要部件进行了理论计算、有限元分析,对驱动轮支架进行了应力及形变分析,仿真结果表明,驱动轮支架的强度和刚度均满足设计要求。在ADAMS软件中建立了床椅机器人的动力学仿真模型,进行了稳定性分析,仿真结果表明,床椅机器人的各项指标符合国家相关标准的规定。样机试验进一步验证了仿真分析的结果,确认了床椅一体化机器人的稳定性、越障性能和在室内狭小空间的转向性能。

Design and Implementation of an Integrated Bed and Chair Robot

To address the problem of the flexible walking of bed chair robots in narrow indoor spaces, a four wheel independent drive steering bed chair integrated robot chassis is developed. Based on the steering requirements of indoor narrow spaces, the overall layout plan and main technical parameters of the chassis have been determined. Theoretical calculations and finite element analysis were conducted on important components, and stress and deformation analysis was conducted on the drive wheel bracket. The simulation results showed that the strength and stiffness of the drive wheel bracket met the design requirements. A dynamic simulation model of the chassis was established in ADAMS software, and stability analysis of forward tilt, backward tilt, and roll was conducted, as well as performance analysis of single side obstacle crossing and overall obstacle crossing. The simulation results showed that the various indicators of the chassis met the relevant national standards. The prototype experiment further validated the results of simulation analysis, confirming the stability, reliability, and steering performance of the bed chair integrated robot in narrow indoor spaces.