爬楼轮椅座椅姿态调节机构的可靠度及灵敏度分析
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摘要
爬楼轮椅座椅姿态调节机构为一新型两自由度交叉四连杆机构,其运动精度直接影响着爬楼轮椅运动的稳定性。针对座椅姿态调节的交叉四杆机构,利用矩阵的方法建立了机构输入、输出关系的运动精度分析模型,进而建立了机构运动精度的可靠度及灵敏度数学模型。在基本尺寸误差和运动副间隙误差的基础上,求解出了三种运动副间隙误差情况下机构运动精度的可靠度。同时,也求解出了在不考虑运动副间隙误差情况下机构中各基本参数的可靠性灵敏度,最后利用Matlab进行仿真发现机构保持了较高的可靠度及适当增加杆长可改善机构的灵敏度。
As a new-type two-degree crossing four-bar mechanism,the floor-climbing wheelchair seating posture regulating mechanism will affect stability of floor-climbing wheelchair movement through the kinematic accuracy. Specific to seating posture regulation,a matrix method was used to establish the kinematic accuracy analysis model by aiming at input/output relationship of the mechanism. Then,the mathematical model for reliability and sensitivity of mechanism accuracy was established. On the basis of basic dimension errors and joint clearance errors,reliability of mechanism accuracy under three joint clearance errors was solved. Meanwhile,the reliability and sensitivity of basic parameters without considering joint clearance errors were also solved. At last,Matlab was used to simulate,finding that the mechanism remained the higher reliability. The sensitivity of the mechanism could be improved by increasing rod length suitably.
As a new-type two-degree crossing four-bar mechanism,the floor-climbing wheelchair seating posture regulating mechanism will affect stability of floor-climbing wheelchair movement through the kinematic accuracy. Specific to seating posture regulation,a matrix method was used to establish the kinematic accuracy analysis model by aiming at input/output relationship of the mechanism. Then,the mathematical model for reliability and sensitivity of mechanism accuracy was established. On the basis of basic dimension errors and joint clearance errors,reliability of mechanism accuracy under three joint clearance errors was solved. Meanwhile,the reliability and sensitivity of basic parameters without considering joint clearance errors were also solved. At last,Matlab was used to simulate,finding that the mechanism remained the higher reliability. The sensitivity of the mechanism could be improved by increasing rod length suitably.
引文
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[2]张峰,唐樟春,任昊.含间隙曲柄滑块机构可靠性灵敏度分析[J].机械设计,2012,29(10):42-45.(Zhang Feng,Tang Zhang-chun,Ren Hao.Reliability sensitivity analysis for slider-crank mechanism with clearance[J].Jouranl of Mechine Design,2012,29(10):42-45.)
[3]张义民,黄贤振,贺向东.平面连杆机构运动精度可靠性灵敏度设计[J].工程设计学报,2008,15(1):25-28.(Zhang Yi-min,Huang Xian-zhen,He Xiang-dong.Reliability sensitivity design for kinematic accuracy of planer linkage mechanism[J].Journal of Engineering Design,2008,15(1):25-28.)
[4]张义民,黄贤振,贺向东.任意分布参数平面连杆机构运动精度可靠性稳健设[J].农业机械学报,2008,39(7):139-143.(Zhang Yi-min,Huang Xian-zhen,He Xian-gdong.Reliability-based robust design for kinematic accuracy of the planar linkage mechanism with arbitrary distribution parameters[J].Transactions of the chinese society for Agricultural Machinery,2008,39(7):139-143.)
[5]Yang Zhou,Zhang Yi-min,Huang Xiang-zhen.Reliability-based robust optimizaion esign of automobile components with non-normal distribution parameters[J].Chinese Journal of Mechanical Engineering,2013,26(4):823-830.
[6]Lee S J,Gilmore B J.Gilmore.The determination of the probabilistic properties of velocities and acceleration sinkine maticchains with uncertainty[J].ASMEJ.Mech.Des1991,113(1),84-90.
[7]陈胜军,贾方,韩伟.曲柄滑块机构运动误差分析[J].机械设计与制造,2015(3):73-78.(Chen Sheng-jun,Jia Fang,Han Wei.Analysis on motion error of slidercrank mechanism[J].Machinery Design&Manufacture,2015(3):73-78.)
[8]宋黎,杨坚.尺寸型对含间隙平面连杆机构误差传递系数的影响[J].湘潭大学自然科学报,1999,21(3):64-69.(Song Li,Yang Jian.The effect of dimension type to the error transfer coefficients of planar linkage with pair clearance[J].Natural Science Journal of Xiangtan University,1999,21(3):64-69.)
[9]谭晓兰,韩建友,陈立周.考虑运动副间隙影响的函数发生机构的稳健优化设计[J].北京科技大学学报,2004,26(4):416-419.(Tan Xiao-lan,Han Jian-you,Chen Li-zhou.Robust design of function generating mechanisms considering kinematic pair clearance[J].Journal of University of Science and Technology Beijing,2004,26(4):416-419.)
[10]LIO M D.Robust design linkages-synthesis by solving non-linear optimization problems[J].Mechanism and Machine Theory,1997,32(8):921-932.