| 李茂生， 张春燕， 刘香玉， 宛宇.伤员转运机器人自平衡系统的运动学研究[J].轻工机械,2019,37(3):1-6 |
| 伤员转运机器人自平衡系统的运动学研究 |
| Kinematics Analysis of Self Balancing System for Wounded Transfer Robot |
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| DOI：10.3969/j.issn.1005 2895.2019.03.001 |
| 中文关键词: 转运机器人 自平衡 自由度 修正G K 公式 封闭矢量法 牛顿迭代法 |
| 英文关键词:wounded transfer robot self balancing freedom degree modified G K formula closed vector method Newton iteration method |
| 基金项目:上海市研究生科研创新项目基金资助（18KY0122）。 |
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| 中文摘要: |
| 为了提高复杂灾变环境中伤员的救援效率和成功率，提出一种具有3R1T的4 UPS/PS并联机构作为伤员转运机器人的自平
衡系统。利用螺旋理论对自由度进行分析并通过修正的 G K公式进行检验；采用封闭矢量法求得各杆长与动平台位姿间的关系；建立数值解方程，采用牛顿迭
代法求解位置正解，利用数值验证正解的精度。通过ADAMS仿真软件对自平衡器的平衡过程进行运动性能仿真分析。实验结果表明机构运动性能优越，驱动性能
良好，具有很强的可控性和稳定性，适用于救援转运机器人。 |
| 英文摘要: |
| In order to improve the efficiency of rescuing the wounded in the complex and catastrophic environment，a novel parallel mechanism with 3R1T was
proposed，which could be used in self balancing system of the transfer robot. The degree of freedom was analyzed by using screw theory and tested by the modified G K formula. By
utilizing the closed vector，the solution to the inverse kinematics and the relation between the length of each driving rod and the posture of the moving platform were obtained. The
numerical solution equation of the self balancing system was established，and Newton iteration method was used to solve the position kinematics solution. The balancing process of the
self balancing was simulated by ADAMS and motion performance was analyzed. The experimental results show that the self adjustment of the self balancing system can achieve the
balance of the fixed platform of the mobile robot casualties，and the mechanism has excellent motion performance，good drive performance，strong controllability and stability，which is
suitable for the rescue and transport robots. |
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