The Design of a Patient Transportation Robot's Lifting Arms Considering Comfort and Safety without the Presence of a Sheet

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left">Lifting arm</td><td align="center">Results</td><td align="center">65 kg</td><td align="center">100 kg</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left" rowspan="2">LA.1</td><td align="center"><span style="width: 34.087502px;"><svg height="16.450001" id="M12" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 34.087502 16.450001" width="34.087502" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,8.85,16.25)"><path d="M797 0h-214v26q46 5 58 17.5t12 63.5v167q0 116 -88 116q-48 0 -112 -52q3 -18 3 -42v-195q0 -46 11 -58t53 -17v-26h-214v26q48 5 59.5 17t11.5 60v172q0 115 -88 115q-47 0 -109 -52v-235q0 -47 10 -59.5t48 -17.5v-26h-211v26q50 5 62.5 17t12.5 60v207q0 48 -9 59.5
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</svg></span></td><td align="center">6.2 mm</td><td align="center">9.6 mm</td></tr><tr><td align="center"><span style="width: 34.900002px;"><svg height="12.325" id="M13" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 34.900002 12.325" width="34.900002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg></span></td><td align="center">51.2 MPa</td><td align="center">78.7 MPa</td></tr><tr><td align="center" colspan="4"><hr/></td></tr><tr><td align="left" rowspan="2">LA.2</td><td align="center"><span style="width: 34.087502px;"><svg height="16.450001" id="M14" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 34.087502 16.450001" width="34.087502" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,8.85,16.25)"><path d="M797 0h-214v26q46 5 58 17.5t12 63.5v167q0 116 -88 116q-48 0 -112 -52q3 -18 3 -42v-195q0 -46 11 -58t53 -17v-26h-214v26q48 5 59.5 17t11.5 60v172q0 115 -88 115q-47 0 -109 -52v-235q0 -47 10 -59.5t48 -17.5v-26h-211v26q50 5 62.5 17t12.5 60v207q0 48 -9 59.5
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</svg></span></td><td align="center">11.6 mm</td><td align="center">17.8 mm</td></tr><tr><td align="center"><span style="width: 34.900002px;"><svg height="12.325" id="M15" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 34.900002 12.325" width="34.900002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg></span></td><td align="center">95.0 MPa</td><td align="center">146.0 MPa</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The maximum deformation and stress comparison.

Journal of Robotics

tab3

Table 3

Table 3: The Design of a Patient Transportation Robot's Lifting Arms Considering Comfort and Safety without the Presence of a Sheet 