Dynamics and control study of a stair-climbing walking aid robot

摘要

This paper designs a multifunctional robot for stair climbing by the link mechanism and stair climbing mechanism. A virtual prototype has been developed in adams. By means of Roberson-Wittenburg method dynamic model has been established. Based on the dynamic model, the synchronization controller is designed, and the controller is proven to be asymptotic stability by Lyapunov function. The system parameters have been designed for the co-simulation in matlab and adams. The synchronization controller has been used in trajectory tracking simulation of virtual prototype. Result shows the effectiveness of the method.