轮椅机器人运动分析与仿真测试  

Wheelchair robot motion analysis and simulation testing

作　　者：王建 赵娟 孟广耀 刘晓君 WANG Jian;ZHAO Juan;MENG Guangyao;LIU Xiaojun(College of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 265200,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,山东青岛265200

出　　处：《中国测试》2024年第10期120-126,共7页China Measurement & Test

基　　金：国家自然科学基金资助项目(51175276);青年科学基金项目(51905289)。

摘　　要：针对老年人、残疾人失动、失能问题,结合普通轮椅的成熟实用性,设计一款辅助轮椅移动越障的装置。基于平面三角型原理,对轮椅机器人机构进行参数设计与验证;通过三维建模、数值计算对轮椅爬楼角度、跨越台阶活动范围进行分析;仿真验证结构设计的合理性、履带足传动的稳定性。结果表明辅助装置与轮椅的结合可使爬楼角度达77°,最大活动角度达54.36°,使整体重心始终处于三角形中心位置,可实现普通轮椅和辅助传动装置的结合。在研究中提出共享分离方案,采用共享分离模式使轮椅的操作性更强、携带更方便、有效提高了轮椅出行效率,有效解决了老年人、残疾人在复杂路况使用时的难题。Aiming at the problem of elderly and disabled people's loss of movement and disability,we design a device to assist wheelchair movement over obstacles by combining the maturity and practicality of ordinary wheelchairs.Based on the planar triangle principle,the parameters of the wheelchair robot mechanism are designed and verified;the wheelchair climbing angle and the activity range across the steps are analyzed through 3D modeling and numerical calculation;the simulation verifies the rationality of the structural design and the stability of the crawler foot transmission.The results show that the combination of the auxiliary device and the wheelchair can make the climbing angle reach 77° and the maximum activity angle reach 54.36°,so that the overall center of gravity is always in the center of the triangle,and the combination of the common wheelchair and the auxiliary drive is realized.In the study,the shared separation scheme is proposed,and the common separation mode makes the wheelchair more operable and convenient to carry,effectively improving the efficiency of wheelchair travel,and effectively solving the problems of the elderly and disabled people when using it in complex road conditions.

关 键 词：结构设计 轮椅机器人 运动分析 仿真测试 

分 类 号：TB9[一般工业技术—计量学] TB472[机械工程—测试计量技术及仪器] TH789