Optimization and Dynamic Simulation of a Nurse Robot in Hospital Environment Using Genetic Algorithm

Optimization using results of dynamical and mechanical simulation of a robotic nurse unit to assist paraplegic patients, on a virtual path similar to actual hospital environment, is addressed in this paper. Force-Angle tipover stability margin measurement was employed in Genetic Algorithm optimization in order to find optimum driving and locomotion mechanism for the robot. By running the ADAMS simulation of the robot on the path mentioned, Genetic Algorithm determines the wheels and robot center of mass locations for the optimum and tipover avoidant Nurse Robot Unit. 3D model simulation of the optimum locomotion mechanism solution, using Pro-ENGINEER Wildfire, and dynamic simulation of the results in ADAMS software as well as experiments on the fabricated prototype proved the robustness of the robotic unit to tipover.