Method for calculating emergency brake impact force of mobile robot

The invention relates to a method for calculating the emergency brake impact force of a mobile robot. The method comprises the following steps of: S1, confirming the overall weight m of the mobile robot to be calculated, the reduction ratio i of each driving wheel of the mobile robot and the diameter d of the driving wheel of the mobile robot, determining the maximum speed Vmax during emergency brake, and determining the acceleration a of a motor; S2, calculating the rotation speed n of the motor, the deceleration time t, the acceleration a of the driving wheel and the output shaft angular speed omega of a speed reducer; S3, calculating the overall kinetic energy Ev total, the dynamic load torque Td, the maximum shear stress tau max and the average dynamic load torque per second accordingto the energy conservation theorem; and S4, obtaining the damage degree of the acceleration of the mobile robot to the speed reducer during emergency brake. The damage condition of the impact force tothe speed reducer of the