双曲柄式爬升机构的设计与分析
|
摘要
通过对现有爬楼梯轮椅爬升机构的对比分析,提出了双曲柄式爬升机构。对双曲柄式爬升机构进行设计研究,建立了双曲柄式爬升机构的运动学模型,并在此基础上对其进行了爬楼过程中运动轨迹分析。仿真结果表明,该爬升机构结构设计合理,方案可行且运行平稳,能够满足设计要求。
Through the comparative analysis of the climbing mechanism of stair climbing wheelchair,a double crank type climbing mechanism is proposed. The design and research of the double crank type climbing mechanism is studied,and the kinematics model of the double crank climbing mechanism is established. Based on this,an analysis of the motion trajectory during the climbing process is carried out. The simulation results show that the structure of the climbing mechanism is reasonable,the scheme is feasible and the operation is stable to meet the design requirements.
Through the comparative analysis of the climbing mechanism of stair climbing wheelchair,a double crank type climbing mechanism is proposed. The design and research of the double crank type climbing mechanism is studied,and the kinematics model of the double crank climbing mechanism is established. Based on this,an analysis of the motion trajectory during the climbing process is carried out. The simulation results show that the structure of the climbing mechanism is reasonable,the scheme is feasible and the operation is stable to meet the design requirements.
引文
[1]QUAGLIA G,FRANCO W,ODERIO R.Wheelchair.q,a motorized wheelchair with stair climbing ability[J].Mechanism&Machine Theory,2011,46(11):1601-1609.
[2]MORALES R,GONZALEZ A,FELIU V,et al.Environment adaptation of a new staircase-climbing wheelchair[J].Autonomous Robots,2007,23(4):275-292.
[3]陈延伟,郭化超,王占礼,等.链脚式电动爬楼载物车爬升传动系统设计与分析[J].机械传动,2014(4):57-60.
[4]陈世荣,许旻,杨杰.双曲柄机构在移动机器人中的应用与优化[J].中国机械工程,2007,18(10):1139-1142.
[5]王光建,蒋汉军,褚志刚.新型双曲柄式可调侧隙精密行星传动装置参数设计与仿真[J].机械工程学报,2011,47(5):11-18.
[6]王占礼,郭化超,陈延伟,等.爬楼梯轮椅翻转爬升传动系统设计与仿真分析[J].机械传动,2014(2):78-82.
[7]何丽.腿轮复合式电动爬楼轮椅的设计与分析[D].秦皇岛:燕山大学,2015:25-33.
[8]胡杰,王占礼,陈延伟,等.基于齿轮齿条传动的爬升机构设计与研究[J].机械传动,2016,40(9):100-103.
[9]KIM J Y.Task based kinematic design of a two DOF manipulator with a parallelogram five-bar link mechanism[J].Mechatronics,2006,16(6):323-329.
[10]周秋雨,邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析[J].机械传动,2016,40(4):74-80.
[11]王斌锐,李璟,金英连,等.运动建模与控制系统设计[M].北京:清华大学出版社,2014:41-83.
[12]WILSON M,SPONG M W.Robot modeling and control[J].Industrial Robot An International Journal,2006,17(5):709-737.
[13]中华人民共和国住房和城乡建设部.建筑设计防火规范:GB50016-2014(2018版)[S].北京:中国标准出版社,2014:5-39.
[2]MORALES R,GONZALEZ A,FELIU V,et al.Environment adaptation of a new staircase-climbing wheelchair[J].Autonomous Robots,2007,23(4):275-292.
[3]陈延伟,郭化超,王占礼,等.链脚式电动爬楼载物车爬升传动系统设计与分析[J].机械传动,2014(4):57-60.
[4]陈世荣,许旻,杨杰.双曲柄机构在移动机器人中的应用与优化[J].中国机械工程,2007,18(10):1139-1142.
[5]王光建,蒋汉军,褚志刚.新型双曲柄式可调侧隙精密行星传动装置参数设计与仿真[J].机械工程学报,2011,47(5):11-18.
[6]王占礼,郭化超,陈延伟,等.爬楼梯轮椅翻转爬升传动系统设计与仿真分析[J].机械传动,2014(2):78-82.
[7]何丽.腿轮复合式电动爬楼轮椅的设计与分析[D].秦皇岛:燕山大学,2015:25-33.
[8]胡杰,王占礼,陈延伟,等.基于齿轮齿条传动的爬升机构设计与研究[J].机械传动,2016,40(9):100-103.
[9]KIM J Y.Task based kinematic design of a two DOF manipulator with a parallelogram five-bar link mechanism[J].Mechatronics,2006,16(6):323-329.
[10]周秋雨,邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析[J].机械传动,2016,40(4):74-80.
[11]王斌锐,李璟,金英连,等.运动建模与控制系统设计[M].北京:清华大学出版社,2014:41-83.
[12]WILSON M,SPONG M W.Robot modeling and control[J].Industrial Robot An International Journal,2006,17(5):709-737.
[13]中华人民共和国住房和城乡建设部.建筑设计防火规范:GB50016-2014(2018版)[S].北京:中国标准出版社,2014:5-39.