Motion Analysis And Simulation Of Stance Robot Using Repeatedly Direct Kinematics

Population aging has become a major worldwide social problem. The aging populationhas10%more than the total population, the process of an aging society is accelerate, whichgives tremendous pressure on the health and social insurance system. Simulation analysis ofhuman action is important for rehabilitation and medical education.This paper studies stance humanoid robot, presents an algorithm to gait planning basedon center of gravity moved by upper body, chooses the daily life of up and down stairs, whichis a detailed analysis of the process of the action generated. This paper presents an algorithmto generate the climbing action based on repeatedly direct kinematics and forward kinematics,the centre of gravity of robot can be adjusted by moving its upper limb, then the requirementsfor the variation of centre of gravity during the climbing movement can be satisfied based onthe successive evaluation and generates the most stable of trajectory.Firstly, the mathematical model of stance robot is simulated according to the ratio of thehuman body. Angle range and criterion position of each joint are defined by consulting themotion range of each human joint. Considering the factors including robot forward and lateralmovement, the slow action of the elderly, joint torque, joint coordinates and joint force arecalculated by statics.Secondly, based on the repeatedly direct kinematics method and the robot kinematicsprinciple, we can plan the key point trajectories of the basic motions of robots like up anddown stairs, slopes and pestle with crutches, etc. The position of the center of gravity can betuned by the slight rotation of waist joints in four directions(front, back, left, and right). Whencenter of pressure stability criterion and joint angle range and the range of feet support forceare taken as the evaluation condition and the restriction condition respectively, the optimalmotion attitude can be chosen.Finally, the feasibility and stability of gait planning algorithm can be evaluated by tuningthe height and width of stairs steps.Using the pestle-operating change of crutches and themaneuverability of the pestle-operating arms as a judging criterion, the optimalpestle-position can be obtained, if robot encounters external force, how to improve itsstability, which provides theoretical guidance for the basic motions of the elderly such as upstairs.