Stability analysis of the food delivery robot with suspension damping structure

Shuhai Jiang; Wei Song; Zhongkai Zhou; Shangjie Sun

doi:10.1016/j.heliyon.2022.e12127

Stability analysis of the food delivery robot with suspension damping structure

Heliyon. 2022 Dec 9;8(12):e12127. doi: 10.1016/j.heliyon.2022.e12127. eCollection 2022 Dec.

Authors

Shuhai Jiang^{1

2}, Wei Song^{1

2}, Zhongkai Zhou^{1

2}, Shangjie Sun^{1

2}

Affiliations

¹ School of Mechanical and Electronic Engineering, Nanjing Forestry University, Jiangsu, Nanjing, 210037, China.
² Institute of Intelligent Control and Robotics (IICR), Nanjing Forestry University, Jiangsu, Nanjing, 210037, China.

Abstract

Aiming at the shock absorption and stability under complex terrain conditions, a six-wheeled food delivery robot with a suspension damping structure was designed. The food delivery robot is mainly composed of a take-out box, a chassis mobile structure and a suspension damping structure. The dynamic analysis of the suspension damping structure of the robot is carried out through the Lagrangian equation, and the offset of the wheels in different driving environments is obtained. Then, the zero-moment point method is used to analyze the stability of the food delivery robot in two non-horizontal movement environments of the left and right wheels and the front and rear wheels. Based on this, taking speed bumps and ramp terrain with different slopes as examples, the stability of the food delivery robot is analyzed by ADAMS simulation. The simulation and experiment results verify the rationality of the structure design of the food delivery robot with a suspension damping structure and the correctness of the theoretical analysis.

Keywords: Dynamics; Food delivery robot; Stability; Suspension structure; Zero moment point method.