A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities ...A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.展开更多
To make a rapid comfort assessment and a reasonable dynamic parameters choice of wheelchair robots,this paper proposes a dynamic comfort coefficientκand analytically optimizes the cushion damping.Firstly,a traveling ...To make a rapid comfort assessment and a reasonable dynamic parameters choice of wheelchair robots,this paper proposes a dynamic comfort coefficientκand analytically optimizes the cushion damping.Firstly,a traveling vibration model of the occupantwheelchair system for wheelchair robots running on random roads was created.Secondly,the analytic formula of the occupant RMS(root mean square)acceleration was deduced.Moreover,the dynamic coefficientκwas proposed and its influence laws were revealed.Finally,the cushion system optimal damping ratio was calculated based onκ.The results show that theκvalue is only determined by the parameters of the occupant-wheelchair system.The smaller theκvalue is,the better the dynamic comfort is for wheelchair robots running on random roads.By minimizingκ,the occupant-wheelchair system can achieve a statistically optimal dynamic comfort effect.展开更多
基金Supported by State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2010-ZD-04)Capital Medical Development Scientific Research Fund(20092098)
文摘A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.
基金the National Natural Science Foundation of China(51575325).
文摘To make a rapid comfort assessment and a reasonable dynamic parameters choice of wheelchair robots,this paper proposes a dynamic comfort coefficientκand analytically optimizes the cushion damping.Firstly,a traveling vibration model of the occupantwheelchair system for wheelchair robots running on random roads was created.Secondly,the analytic formula of the occupant RMS(root mean square)acceleration was deduced.Moreover,the dynamic coefficientκwas proposed and its influence laws were revealed.Finally,the cushion system optimal damping ratio was calculated based onκ.The results show that theκvalue is only determined by the parameters of the occupant-wheelchair system.The smaller theκvalue is,the better the dynamic comfort is for wheelchair robots running on random roads.By minimizingκ,the occupant-wheelchair system can achieve a statistically optimal dynamic comfort effect.
