Jixie chuandong (Jul 2019)
Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot
Abstract
In order to improve the efficiency and success rate of rescuing the wounded in the complex and catastrophic environment, a novel 4-UPS/PS parallel mechanism with 3R1T is proposed, which can be used in self-balancing system of the transfer robot. The degree of freedom is 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 are obtained. The expressions of kinetic energy and potential energy of self-balancing compensating mechanism are deduced. The dynamic model of self-balancing compensator is established by Lagrange method. The kinematics and driving force of self-balancing process are simulated and analyzed by Adams simulation software. The experimental results show that the mechanism has excellent motion performance, good drive performance, strong controllability and stability, which is suitable for the rescue and transport robots.
