Modeling and simulation analysis of a walking assistant robot for both plane and stair
LIU Juan-xiu1， WU Yi-fei1， GUO Jian1，2， LI Rui1， CHEN Qing-wei1
1.School of Automation， Nanjing University of Science and Technology， Nanjing 210094， China;
2.State Key Laboratory of Fluid Power and Control， Zhejiang University， Hangzhou 310027， China
Abstract Considering the travel inconvenience that the elderly or disabled persons were facing， a multifunctional walking assistant robot for both stair climbing and plaint moving was putting forward， which adopted the foot and wheel patterned structure. The kinematic model was established by R. Morales method， with which the trajectories of robot's center of mass and joint angles during the ascending process were calculated. The dynamic model was established by means of Roberson-Wittenburg method， and the driving torque of each joint was calculated by taking inverse 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 correctness 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.
LIU Juan-xiu， WU Yi-fei， GUO Jian， LI Rui， CHEN Qing-wei. Modeling and simulation analysis of a walking assistant robot for both plane and stair. Chinese Journal of Engineering Design, 2015, 22(5): 344-350.
