座面可调电动轮椅的机构运动仿真

Kinematics Simulation for a Power Wheelchair with Self-Actuated Seating Fnctions

通过运动仿真,对座面可调的多功能轮椅进行机构设计。基于人机工程学及位姿分析,设计各构件尺寸。在MATLAB中建立轮椅运动学模型,通过仿真分析得到了各刚体关键铰接点的位移、速度、加速度等参数。将得到的运动学参数与轮椅的功能要求进行比较,对轮椅整车机构进行修正。所设计的轮椅能辅助残障者实现坐立、站立、平躺等多种姿态间的转变,也便于轮椅与其它康复设备的安全对接。多刚体运动学仿真方法能更直观进行机构功能分析,从而缩短设计周期。

The mechanism of a wheelchair with self-actuated seating functions was presented,including tilt-in-space,and backrest recline.Each link length was determined according to ergonomics and position analysis.In softwar Matlab,a kinematics model of wheelchair was developed and the motion of mechanical linkages was simulated to realize the velocity and acceleration analysis.In the way,the fidelity of the construction was demonstrated by comparing the behavior of the moving drawings with the real mechanism’s requirement.The described wheelchair should bring greater freedom of movement to people and dock with other rehabilitation equipment.The mechanism design method should enable better improving design plans according to functional requirement,which could shorten the time of design.