Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Analysis of vibration load of a wheeled robot-nurse using simulation

Authors: Parubets P.E.
Published in issue: #3(44)/2020
DOI: 10.18698/2541-8009-2020-3-586
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mobile robot-nurse, vibration load, simulation, software, automated modeling, dynamics of a system of bodies, model of tire-road interaction
Published: 23.03.2020

The paper gives a description of a spatial nonlinear dynamic model of a wheeled mobile robot-nurse for evaluating vibration load indicators at the design stage. The model is implemented in the software package for automated modeling of the dynamics of body systems "Universal Mechanism". The interaction of the tire with a solid, uneven support base is described using a semi-empirical model with the point contact of the tire with the road. On the basis of the developed mathematical model, an analysis of vibration loading was carried out under various modes of movement of a mobile robot on a dirt road of good quality. The calculation results are given for the movement of a mobile robot at a speed of 9 km/h and various parameters of the suspension system. The developed model can be used to assess the vibration load of a robot-nurse and give recommendations on the modes of its movement and the parameters of the suspension system.

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