中文摘要：

针对护理机器人腰臂配合抱起病人时容易发生倾翻和侧滑的问题,以自主研发的全方位移动仿人护理机器人为研究对象,从静态和动态两个方面研究机器人此阶段的运动稳定性。在没有负载或低速运动工况下,利用重心投影法,分析其静态稳定性;在有负载变化情况下,利用零力矩点理论并结合递归牛顿-欧拉算法,分析其动态稳定性。最后运用ADAMS仿真软件对护理机器人运动过程进行仿真分析,为确保护理机器人的运动稳定性提供理论依据。

英文摘要：

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.