Abstract
Abstract In this paper, the robot arm is manufactured to increase the structural strength and improve safety. The stability of the nursing robot in the process of carrying out the typical nursing task of holding patients was studied, and the influence of the center of gravity on the movement stability of the nursing robot was analyzed. The mathematical model of the stability of the robot is built by using the inverse kinematics solution of the robot. By studying the trajectory planning of a nursing robot under the condition of ZMP constraint, the robot can move safely and optimally along the prescribed trajectory between two working points. The simulation results show that the algorithm can significantly improve the work safety of the robot. In the experiment, four pressure sensors are used to measure the pressure of four wheels on the ground, the data are obtained and substituted into the expression of center of pressure (COP) method. The results show that the stability is in a reasonable moving area without any hidden danger, and its COP value is less than the stable qualitative boundary, which verifies the rationality and effectiveness of the optimal center of gravity stability planning algorithm.
Highlights
In this paper, the robot arm is manufactured to increase the structural strength and improve safety
The end pose of the nursing robot in this paper is the middle point end of the independent arm; so, the trajectory planning problem of the two arms is transformed into the trajectory planning of the middle point, and the motion relationship of the two arms joint is obtained by the algorithm in the inverse solution [35]
(1) This paper mainly considers the influence of gravity on the stability of nursing robots for aluminum alloy structure in the process of operation and adopts ZMP dynamic stability criterion, to get the results in line with the actual situation as far as possible
Summary
Abstract: In this paper, the robot arm is manufactured to increase the structural strength and improve safety. The stability of the nursing robot in the process of carrying out the typical nursing task of holding patients was studied, and the influence of the center of gravity on the movement stability of the nursing robot was analyzed. The nursing robot has the ability to complete all kinds of nursing tasks safely and stably in the complex living and working environment facing the patients [1] It is the embodiment of the combination of traditional rehabilitation nursing mechanisms and advanced robot technology [2,3]. COP is the center of pressure, if the robot is dynamically stable, ZMP coincides with CoP and can be calculated with CoP by using force sensors on the foot These kinds of judgment criteria have their limits; up to now, there is not a judgment basis that can completely replace other types [17]. Waist, trunk, and head of the humanoid nursing robot are in a certain pose, the whole center of gravity and the projection in the horizontal direction are in the stable region, and the robot is in a stable state
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