爬楼轮椅前腿机构的可靠度灵敏度分析  

Reliability and sensitivity analysis of the front leg mechanism of the climbing wheelchair

作　　者：张琦 曹东兴[1] 甘晓萌 范柳彬 ZHANG Qi;CAO Dongxing;GAN Xiaomeng;FAN Liubin(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院

出　　处：《河北工业大学学报》2020年第1期39-43,共5页Journal of Hebei University of Technology

基　　金：国家自然科学基金(51275152)

摘　　要：针对爬楼轮椅的前腿机构,其运动精度的高低影响着爬楼轮椅整机的稳定性,运用封闭矢量法建立了前腿机构运动输入、输出模型,在同时考虑了杆件尺寸制造误差和运动副间隙误差的基础上,建立了轮腿式爬楼轮椅前腿机构输出角度可靠度、灵敏度模型,利用MATLAB编写程序对建立的数学模型进行仿真分析,得出了机构在不同运动副间隙情况下可靠度的变化规律和其在不同参数下可靠性灵敏度的变化规律,为后期提高前腿机构的运动精度设计提供理论依据。This paper aims at analyzing the front leg mechanism of the climbing wheelchair.Its movement precision af⁃fects the stability of climbing machine.By using the closed vector method to establish kinematic input and output model of front leg mechanism,on the basis of considering the bar dimension manufacturing error and motional pair clearance er⁃ror,We have established the reliability and sensitivity model of the output angle of the front leg mechanism of the climb⁃ing wheelchair.By using MATLAB program to establish mathematical model for the simulation analysis,we have ob⁃tained the change rule of reliability mechanism in different clearance condition and the change rule of reliability sensitiv⁃ity under different parameters to provide theoretical basis on improving the motion precision design of the front leg mech⁃anism in the later period.

关 键 词：爬楼轮椅前腿机构 尺寸制造误差 运动副间隙误差 可靠度 灵敏度 

分 类 号：TH789[机械工程—仪器科学与技术] TH112[机械工程—精密仪器及机械]