助老助残轮椅用绳传动机械臂结构设计  

Structure Design of Rope Transmission Wheelchair Manipulator for Helping Elderly and Disabled

作　　者：王旭 陈乃建[1] 王超 黄玉林 李映君[1] WANG Xu;CHEN Naijian;WANG Chao;HUANG Yulin;LI Yingjun(School of Mechanical Engineering,University of Jinan,Jinan 250022,Shandong,China)

机构地区：[1]济南大学机械工程学院,山东济南250022

出　　处：《济南大学学报（自然科学版）》2020年第3期300-305,共6页Journal of University of Jinan(Science and Technology)

基　　金：国家自然科学基金项目(51875250);山东省自然科学基金项目(ZR2017MF023,ZR2017QEE012);山东省重点研发计划项目(2018GGX103028)。

摘　　要：针对传统轮椅机械手驱动结构复杂并且体积、自重偏大等问题,基于套索式柔性绳传动机构原理,设计一种助老助残轮椅用的绳传动机械臂结构;通过对轮椅机械臂的结构以及机械臂绳传动原理进行描述,建立机械臂的运动学方程,利用MATLAB软件求解该绳传动机械臂的运动仿真模型与工作空间进行运动学分析,并研制原理样机进行相应的实验验证。结果表明,通过该绳传动方式,可以将驱动电机安装在机械臂的臂体之外,利用绳索进行动力传递,从而实现分离驱动,并简化机械臂的结构,减小机械臂的体积、质量和能耗。In view of the complex structure as well as large volume and self-weight of traditional wheelchair manipulator drive structure, a rope transmission wheelchairs manipulator structure for helping the elderly and disabled was designed based on the principle of lasso flexible rope transmission mechanism. The kinematic equation of the manipulator was established based on the description of the wheelchair manipulator structure and the rope transmission principle. The motion simulation model and working space of the rope transmission manipulator were solved by MATLAB software to complete the kinematic analysis, and the principle prototype was developed to complete the corresponding experimental verification. The results show that the driving motor can be installed outside the arm of the manipulator by means of rope for power transfer. A separation drive is thus achieved to simplify the structure of the manipulator, and reduce some requirement for size, weight, and energy consumption of the manipulator.

关 键 词：轮椅机械臂 绳传动机构 分离驱动 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]