残障者移位机设计及运动学仿真分析

Design and Kinematics Simulation Analysis of the Shifting Machine for the Disabled

针对目前室内行动障碍人士用的自动移动、提升辅助器具存在自动化程度较低的问题,提出一种高效、安全的残障者移位机技术方案,具有对行动障碍者进行提升、移动、位置姿态调整等功能。对移位机的总体结构进行详细设计,并对提升机构,位姿调整结构和支撑腿开合调整机构进行力学分析。采用D-H法建立残障者移位机正运动学模型,并基于MATLAB Robotics Toolbox软件进行运动学仿真分析,得到了移位机各关节的位移、速度及加速度随时间变化曲线。该研究对残障者移位机的开发具有重要意义。

The automatic movement and lifting aids used by disabled people are less automatic.This paper proposes an efficient and safe technical solution for disability lifters,which has functions such as lift,movement,position and posture adjustment for people with mobility impairments.The overall structure of the shifting machine is designed in detail,and the dynamics analysis of the lifting mechanism,posture adjustment structure and opening and closing adjustment mechanism of support leg is carried out.A kinematics model of the shifting machine for disabled person is established by D-H method,and the kinematics simulation analysis was performed by MATLAB Robotics Toolbox.The position,velocity and acceleration curves of the joints of the shifting machine are obtained.This research is of great significance to the development of the shifting machine for the disabled.