轮腿复合式底盘结构的仿真优化

Simulation Optimization of Wheel and Leg Composite Chassis Structure

针对目前下肢有障碍的人士出行困难、生活不便的问题,课题组以调整轮椅整体高度位姿与完成户外越障为目标,设计了一种多功能轮椅的轮腿复合式底盘机构。通过运动学分析得出底盘机构水平状态下高度变换范围以及两个驱动推杆的耦合关系;对底盘机构中关键零部件进行静力学分析,并对关键部件进行仿真优化,以保证底盘机构在调节高度中的整体稳定性。样机实验验证了轮腿复合式底盘机构可稳定有效地实现高度调整。该设计可以调节身体重心与位姿,也可以满足室外越障的需求。

In view of the difficulties of people with disabilities in the lower limbs and the inconvenience of living,a multi- functional wheelchair wheel-leg composite chassis mechanism was designed with the goal of adjusting the overall height position of the wheelchair and completing the outdoor obstacle in this paper. Through the kinematic analysis,the height transformation range of the chassis mechanism and the coupling relationship between the two driving pushers were obtained. Static analysis of key components in the chassis mechanism and simulation optimization of key components were carried out to ensure the overall stability of the chassis mechanism in the adjustment height. The prototype experiment verifies that the wheel-leg composite chassis mechanism can achieve height adjustment stably and effectively. The design can adjust the center of gravity and posture of the body,and can also meet the needs of outdoor obstacles.