摘要
从某服务型机器人式轮椅座椅的功能需求出发,比较多种减速装置方案,确定满足位姿调节机构功能需求的减速装置为行星轮系;利用图论对行星轮系进行构型分析,得到多种正号机构和负号机构;利用功能复杂性和结构复杂性进行正负号机构复杂性的计算与比较;最终选定一种正号机构作为位姿调节机构减速装置,并在某专利轮椅座椅位姿调节机构中得到成功应用。
According to the functional requirements of a service-oriented robot-type wheelchair, a comparison is made among several kinds of deceleration devices. Thus, the deceleration device which meets the functional requirements of the pose adjusting mechanism is determined as the planetary gear train. By means of the graph theory, an structural analysis is conducted on the planetary gear train, and several positive and negative mechanisms are obtained. A series of calculation and comparison on the complexity of positive and negative mechanisms are conducted based on the functional complexity and structural complexity. Finally, a positive mechanism is selected as the deceleration device for the pose adjustment mechanism. It has been successfully applied in a patented seat pose adjusting mechanism of wheelchair.
作者
姚继蔚
曹东兴
孙宽
YAO Ji-wei;CAO Dong-xing;SUN Kuan(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130;Ministry of Higher Vocational Education,Tianjin University of Technology and Edueation,Tianjin 300222;Tianjin Research Institute of Construction Machinery Co.,Ltd.,Tianjin 300409)
出处
《机械设计》
CSCD
北大核心
2018年第8期69-73,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目(51275152)
关键词
座椅位姿
减速装置
复杂性
功能
图论
正号机构
负号机构
seat pose
deceleration device
complexity
function
graph theory
positive mechanism
negative mechanism
