新型轮椅爬梯机构的柔性动力学仿真分析及优化设计

SIMULATION ANALYSIS AND OPTIMIZATION DESIGN OF THE FLEXIBLE DYNAMICS OF A NEW TYPE OF WHEELCHAIR CLIMBING MECHANISM

基于设计的一款新型自动爬梯轮椅,在驱动电机提供的转矩、乘坐人员及轮椅自重的共同作用下,首先计算得出了爬每级楼梯的时间;然后借助Ansys Workbench中的瞬态动力学模块对爬梯机构进行了柔性体运动学分析,得到了爬梯机构中直接运动构件机械脚1的运动特征曲线,并对轮椅爬梯运动中出现的不稳定现象提出了改进方案;同时进行动力学分析,得到了爬梯机构各构件的等效位移与等效应力随时间的变化曲线,完成了对爬梯机构柔性体机械系统的运动学分析与动力学分析;最后对爬梯机构进行优化设计,其优化结果比原模型质量降低了20.74%,节约了制造原材料,同时为这类轮椅的优化设计提供理论依据。

Based on the design of a new type of automatic stair wheelchair, under the joint action of the drive motor torque and self-weight of users and wheelchair; we can obtain the stairs＇ climbing time is 4. 3 second per level by calculation. Then with the help of the Transient Dynamic Module of ANSYS Workbench. Got movement characteristic curve of direct component mechanical foot 1 in the machine, and put forward the improvement scheme towards its unstable phenomenon; At the same time doing kinetics analysis, got the equivalent displacement of constructions of stair wheelchair and the change of time curve of equivalent stress of members of the gym agencies, completed kinematic analysis and dynamic analysis of mechanical system of flexible body of gym mechanism; Finally optimized the design of the ladder mechanism, the optimization result was reduced 20. 74% than the quality of the original model, and reduced the manufacturing of raw materials, meanwhile provided theoretical basis for optimization design of this kind of wheelchair.