关键词: 护理机器人, 运动稳定性, 重心投影法, 零力矩点, 递归牛顿-欧拉算法

Abstract: When a nursing robot assisted medical staff to take good care of the patients, the motion stability of the robot was the most concern, which was directly related to the success or failure of the nursing tasks. When the nursing robot lifted the patients with arm and waist, tilting and sliding would most likely to occur. Herein, an omni-directional mobile humanoid nursing robot was taken as the research object, and the motion stability was analyzed from two aspects of static and dynamic. Under the conditions of no load and low speed motion, centre of gravity projection method was used to analyze the static stability; under the load conditions, the theory of ZMP combined with the theory of recursive Newton Euler algorithm was used to analyze the dynamic stability. ADAMS was used to simulate the robot's movement process, which provides the theoretical and simulation basis for the  nursing robot stability.

Key words: nursing robot, motion stability, centre of gravity projection method, zero moment point(ZMP), recursive Newton-euler algorithm