Research Of Motion Stability Of Service Humanoid Robot With Wheel Assemblies

Service humanoid robot with wheel assemblies is an autonomous robot with service ability. Service humanoid robot is one of the most challenging problems in robotics because its design requires a high extent of integration of mechanical, electronical and computational, sensor technology and material science. Motion stability is an absolutely necessary research part in the robotic techinology.The motion stability of service humanoid robot is presented in this paper.Service humanoid robot is widely applied in medical treatment, recovery therapy, family nursing and other fields. Service humanoid robots are cooperating and interacting with human beings closely. They must be able to cope with the wide variety of tasks and objects encountered in dynamic unstructured environments. They need some characters of high flexibility, adaptability and antonomous.Therefore, the majority of these research efforts have focused on the challenging issues of motion stability.The synthesis of mechanism of 7 DOFS anthropomorphic redundant arms is modeled and analyzed depending on the theory of ForwardKinematics.The method of showing random position of anthropomorphic redundant arms is presented by using MatLab.The results of practical motion research of anthropomorphic redundant arms become more clearly visible.The waist of human beings can vary its stiffness by using nonlinear spring characteristics possess by the muscles and trunk themselves and it is the main component to adjust the character of the whole body. There functions are indispensable for the waist of service humanoid robot. The model of robotic kinematics based on the waist configuration with parallel driving and wires motor of mobile service humanoid robots with wheel assemblies is presented in this paper .The objects of waist, body, two arms are put in kinematical analysis because the operation of mobile service humanoid robots with wheel assemblies is mainly in static stage. Upper limbs based on the mechanism of waist are analyzed in kinematics simulation by using COSMOS/Motion. The motion trajectory and related parameters of upper limbs achieved in order to Offer date foundation for research in stability.The equations of practical ZMP position for mobile robots with wheel assemblies is formulated depending on ZMP balance theory. Meanwhile, the practical ZMP positions are compared with the theory stability field.Finally, the application fields and limitations of ZMP balance theory for mobile robots with wheel assemblies are discussed.