医疗辅助移位机器人剪式升降机构的优化设计与分析

Optimization Design and Analysis of Shear Lifting Mechanism of Medical Assisted Displacement Robot

伴随着科技的进步,机器人技术已经逐步运用在手术、救援、康复等医疗服务方面。但是,转运与护理危重病人时,采用传统的手抱肩抬的方式容易给病人造成二次伤害。基于人体工程学原理,设计一种新型的医疗辅助移位机器人,可自动有效地完成病人身体的移位。为实现医疗辅助移位机器人与不同高度的床位实现对接,设计一种剪式升降机构。为保证剪式升降机构运行稳定以及具有更好的实用性,对机构进行优化设计。根据虚位移原理,建立力学模型,并利用MATLAB软件进行参数优化。最后,利用三维建模软件PROE建立实体模型,并将三维实体模型导入到ADAMS软件中进行运动学和动力学仿真。结果表明,该升降机构能够顺利完成预期运动,提高了设计效率与可靠性,为医疗辅助移位机器人进一步优化提供了参考。

With the advancement in science and technology,robot technology has been gradually applied in surgery,rescue,rehabilitation,and other medical services.However,when transferring and caring for critically ill patients,the traditional way of holding hands and lifting shoulders is likely to cause secondary injuries to the patients.Based on the principle of ergonomics,a new medical assistant displacement robot was designed,which could automatically and effectively complete the displacement of the patient s body.To realize the docking between the medical assistance transfer robot and the beds of different heights,a shear lifting mechanism was designed.To ensure the stable operation and better practicability of the shear lifting mechanism,the optimization design of the mechanism was carried out.According to the principle of virtual displacement,the mechanical model was established,and MATLAB was used to optimize the parameters.Finally,the 3D modeling software PROE was used to establish the solid model,and the 3D solid model was imported into ADAMS software for kinematics and dynamics simulation.The results show that the lifting mechanism can successfully complete the expected movement,improve the design efficiency and reliability,and provide a reference for the further optimization of the medical assistance displacement robot.