一种车载轮椅自动收放机械臂设计与运动分析  

Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair

作　　者：崔佳辉 李林 梁栋[1,2] 秦承新 Cui Jiahui;Li Lin;Liang Dong;Qin Chengxin(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tianjin 300387,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《机械传动》2023年第8期45-52,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52175243);天津市教委科研基金项目(2019KJ012)。

摘　　要：提出了一种用于车载轮椅自动收放的5自由度机械臂。首先,根据D-H方法建立机械臂数学模型,并进行正向及逆向运动学分析,在进行逆向运动学分析时,分别用解析法和反向传播(Back Propagation,BP)神经网络进行了求解;其次,采用五次多项式插值法对机械臂进行关节空间轨迹规划,实现机械臂的平滑无冲击运动;随后,基于蒙特卡罗法分析机械臂工作空间,得到机械臂末端的工作空间点云图;最后,针对具体车载应用场景,开展了虚拟仿真实验。仿真实验结果表明,机械臂构型设计合理,运动灵活,满足应用需求。为样机开发及应用提供了理论依据。A five degrees of freedom manipulator for automatic retractable vehicle-mounted wheelchairs is proposed.Firstly,the mathematical model of the manipulator is established according to the D-H method,and the forward and inverse kinematics analysis is carried out.When the inverse kinematics analysis is carried out,the analytical method and the back propagation(BP)neural network are used to solve the problem respectively.Secondly,the quintic polynomial interpolation method is used to plan the joint space trajectory of the manipula⁃tor,so as to realize the smooth and impact-free movement of the manipulator.Then,the workspace of the manip⁃ulator is analyzed based on the Monte Carlo method,and the point nephogram of the workspace for the end posi⁃tioning of the manipulator is obtained.Finally,virtual simulation experiment is carried out for specific vehiclemounted application scenarios.The simulation results show that the design of the manipulator is reasonable,the movement is flexible,and it meets the application requirements,which will provide a theoretical basis for the de⁃velopment and application of the prototype.

关 键 词：运动学分析 BP神经网络 蒙特卡罗法 轨迹规划 工作空间 

分 类 号：TH113.2[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]