基于平面多杆机构的多姿态转换装置设计与验证

Design and Verification of Multi-Posture Conversion Device Based on Planar Multi-Bar Mechanism

为满足老年人日常生活需要,设计一种平面多杆机构实现躺-坐-站姿转换动作。首先,提出了实现人体躺-坐-站姿转换过程的三个基本要求。机构设计采用了相似三角形几何结构,并应用平行四边形机构设计扶手,帮助支撑手臂;然后,计算了平面机构自由度数,选用两个原动件控制躺-坐和坐-站的姿态转变运动;最后,对原型机进行了实验测试,验证了躺-坐-站姿转换机构的有效性。

In order to meet the daily needs of the elderly,a planar multi-bar mechanism is designed to realize the conversion of lying-sitting-standing posture.First of all,three basic requirements are put forward to realize the conversion process of human body’s lying-sitting-standing posture.The mechanism design uses a similar triangular geometric structure,and uses a parallelogram mechanism to design the armrest to help support the arm.Then,the degree of freedom of the planar mechanism is calculated,and two prime movers are selected to control the posture transition movement of lying-sitting and sitting-standing.Finally,an experimental test was carried out on the prototype to verify the effectiveness of the lying-sitting-standing conversion mechanism.