中文摘要：

针对需要护理的环境背景及机器人的作业要求,提出了一种全方位护理移动机器人的设计方法,运用solidworks进行了各部分结构初期设计,并在ADAMS中对该虚拟样机进行了动力学仿真,完成了对选型的电机进行了验证;利用D-H方法建立了机器人上肢单臂运动学模型,得到了机器人的运动学正逆解;通过对上肢双臂建立两杆避碰模型,提出了两种相碰的检验条件,选出了最佳检测避碰方案,解决了约束条件下双臂的逆运动学问题;在Matlab环境下,利用蒙特卡罗法计算出工作空间,为确定机器人构形、参数和杆长的优化提供了依据;基于移动机器人在特定环境中的运行稳定性、应用范围、承载能力等特点,对机器人下肢移动方式进行了优化选择,采用全方位移动的完整约束Mecanum轮结构并建立下肢运动学模型,通过对其逆运动学速度雅可比矩阵秩的计算,结合具体结构的分析,优选出四轮全方位运动系统的最佳结构布局形式,提高了机器人运动过程中的稳定性.

英文摘要：

Based on the environmental background, a service robot was designed. Each part of the robot was constructed by solidworks. The dynamic simulation was done in ADAMS for the virtual prototype and the verification to the motor selection was completed; Upper limb kinematics model was set up by using D-H method and solutions to the forward＆amp;inverse kinematics of the robot was obtained. By building the collision model of arbitrary arm links of double arms, the model of collision check factor was suggested and the better scheme was selected for avoiding collision, solving the analysis of inverse kinematics for double arms under the constraint condition. Based on Monte Carlo method, the robot′s working space was planned in Matlab, providing the basis for identifying the robot configuration, parameters, and the rod length optimization. According to the running stability, application range and bearing capacity in specific environment, the walking mode of the mobile robot was optimized, adopting the omni-directional mobile way with the complete constraint structure, and the optimal layout was picked out by calculating the Jacobian matrix rank of the six typical layouts, improving the stability of the robot in motion process.