助老助残轮履协同移动平台设计及运动分析  

Design and kinematic analysis of a wheel-tracked cooperative mobile platform for assisting elderly and disabled

作　　者：曹鹏彬[1] 汤旭青 赵建宇[1] 于宝成[2] CAO Peng-bin TANG Xu-qing ZHAO Jian-yu YU Bao-cheng(School of Mechanical and Electrical Engineering ,Wuhan Institute of Technology ,Wuhan 430205 School of Computer Science and Engineering,Wuhan Institute of Technology, Wuhan 430205)

机构地区：[1]武汉工程大学机电工程学院,湖北武汉430205 [2]武汉工程大学计算机科学与工程学院,湖北武汉430205

出　　处：《机械设计》2017年第9期65-71,共7页Journal of Machine Design

基　　金：湖北省教育厅科学技术研究资助项目(D20141502);武汉工程大学研究生教育创新基金资助项目(CX2014035)

摘　　要：针对传统助老助残轮履复合移动平台轮履转换效率低和轮履无法协同作用的问题,提出了一种助老助残轮履协同移动平台。研究了移动平台的轮履转换机构及轮履转换工作原理。对履带与楼梯台阶接触作用进行分析,给出了履带攀爬楼梯台阶不滑移的充分必要条件。结合"轮履协同"和"履带单独作用"两种方式下攀爬台阶与楼梯动作规划,分析了两种方式下移动平台攀爬台阶和楼梯的运动机理,建立了临界状态数学模型,并通过数值仿真,进行了对比分析。结果表明"轮履协同"方式具有更加优越的攀爬能力,说明助老助残轮履协同移动平台具有实用性。To sol ve the problems of low conversion efficiency and unable cooperation of wheel-track on traditional wheeltracked mobile platforms,a wheel-tracked cooperative mobile platform for assisting elderly and disabled was designed. Wheeltracked transformable structure and working principle of conversions on mobile platform were studied. The sufficient and necessary condition for non-slipping was worked out by analyzing track-stair interactive force. Combining with the action planning of mobile platform to climb stair and step with wheel-tracked cooperative or track,two kinds of motion mechanism for climb stair and step was analyzed,and the mathematical model of critical conditions was established. Through the numerical simulation,theoretical value of mobile platform to climb stair and step with wheel-tracked cooperative and track was analyzed and compared. The result shows that the wheel-track cooperative has a better capacity on climbing,and the practicability of wheeltracked cooperative mobile platform for assisting elderly and disabled was verified.

关 键 词：助老助残 履轮协同 移动平台 攀爬楼梯 运动学分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]