多体位智能轮椅床椅转换装置的运动学仿真分析  

Kinematics Simulation Analysis of Multi Position Intelligent Wheelchair Getting Out of Bed and Chair Conversion Device

作　　者：张爽[1] 李建永[1] 李作家[2] 罗春阳[1] 孙永强 ZHANG Shuang;LI Jian-yong;LI Zuo-jia;LUO Chun-yang;SUN Yong-qiang(College of Mechanical Engineering,Beihua University,Jilin 132013,Jilin,P.R.China;Nanfang Hospital,Southern Medical University,Guangzhou 510515,Guangdong,P.R.China)

机构地区：[1]北华大学机械工程学院,吉林省吉林市132013 [2]南方医科大学南方医院,广东广州510515

出　　处：《林产工业》2024年第2期43-47,79,共6页China Forest Products Industry

基　　金：吉林省科技发展计划项目(20210401146YY)。

摘　　要：介绍了多体位智能轮椅的坐、躺、立、蹲、行5种姿态的转换功能,对床椅转换装置进行简化处理,建立背板机构的运动学模型,利用MATLAB对模型进行计算,得到背板的角速度和角加速度时间的运动曲线。利用ADAMS对优化后的装置模型进行运动学分析,得到改进后床椅转换装置的运动曲线。结果表明:该装置具有较好的运动学性能,在床椅转换过程中背板的最大角加速度达到了16°/s^(2),小于人体所能承受的最大角加速度50°/s^(2)。改进后,床椅平稳转换的时间有所延长,转换过程耗时7.5 s,在0.7~6.9 s内,背板运动趋于加速度接近0的平稳运动,表明推杆速度设计合理。After introducing the five posture conversion functions of the multi position intelligent wheelchair including sitting,lying,standing,squatting,and walking,the bed and chair conversion device was simplified and processed to establish the kinematic model of the backboard mechanism,and the mathematical model was calculated using MATLAB to obtain the motion curves of the angular velocity and angular acceleration time of the backboard.The kinematic analysis of the optimised device model was carried out using ADAMS to obtain the motion profile of the improved bed and chair conversion device.The results showed that the device had good kinematic performance,with a maximum angular acceleration of 16°/s^(2) of the back plate during the bed chair transition,which was lower than the maximum angular acceleration of 50°/s^(2) that the human body can withstand.The time for a smooth bed chair transition has been extended,with the entire transition time of 7.5 s and the backboard motion tended to a smooth motion with acceleration close to 0 within 0.7 s to 6.9 s,suggesting that the design of the push rod speed was reasonable.

关 键 词：失能老人 多体位变换 模块化设计 床椅转换 运动学分析 

分 类 号：TS654[轻工技术与工程] TS396