1、 24 1 2009 M 2 Vol.24 No. 1 Feb. 2009 l 20080922 20081114 “ SE/ ?Z9 (8639 ) “ (2006AA040201) ? g$9 “ (07JCYBJC18700)Te (i) o? V 3 U !9 f -)fyS +(? S/v? 300222)K1U( &8 3 Y$ l .d U ? 4 B V LC_ #( U !9Z UT i_ s ., UG/Motion Simulation vy U E“ i _ T U .1oM U !9 s E“ ms | TH112DS A cI| 1672-6510(2009)01-
2、0047-04 Design of Electric Wheelchair for Stance and Supine Posture REN YiZHANG Jun-xiaZHANG Jian-guoHU Jun (College of Mechanical EngineeringTianjin University of Science & TechnologyTianjin 300222China)AbstractBased on studying adverse influence in sitting posture theorybroken through function and
3、 structure of traditionalwheelchairsa design of electric wheelchair for stance and supine posture was developed and the principle of work wasclarified. The kinematics of mechanism of stance was analyzed. The virtual prototype of the wheelchair was built under UG Motion Simulation and was simulated k
4、inematically. The rationality of mechanism design for the wheelchair was verified bythe result of motion simulation. Keywordselectric wheelchair mechanism design motion analysis virtual prototype “ -S g 8,296 % S9 g1 6.34 8% 2,412 29.071 -d9TA U 2004M S 60 M Xr 1.43 a S g9 10.97 9 2010 M|r 1.6a2. -
5、Bvp ? h K V ?E In O Fl P_ ( H U -M . U8em m 1 U . m 1 U8em Fig.1 Schematic diagram of wheelchair mechanism T m1 U U8_ 1 ( 1 F ., M p P H E /=Q “9h e 4 . m 1 1 9( LL ) _ 10a11a12(L ) ( ) . 1 D V U _ H 7 H % DMMO . _ m2 U _ Bw e 9q 13 ., AaCaFaHaL UO % CaDaEaF B H ., T V w %w 3 H 5 6 / 7 _ = lN HV |vM
6、v = l v_ ( ., 7 l H K _/Z l LC 8 -M WV b . m 2 U_ em Fig.2 Schematic diagram of standing mechanism of wheelchair H _ D O % . S ( LL )# | 65(L ) H m 3 U . N E D 10 B . m 3 Uem Fig.3 Schematic diagram of supine mechanism of wheelchair w e ?p P 1 ? e : ?1M( 71 t m L U *“1 x ? T . 2009 M 2 , U !9 49 _ s
7、 j !91o 9 U ? ? -4 ., USES 8j !9jG .,YVUs VqMa aF ? p .,_ F y7 s . _ y m 4 UUS“ C H L V A LV C _ 1“ O ZE7s 31 2rrr+=KKK(1) |_ sY_ xayg T (2). 331 12 2331122cos cos cos:sin sin sin:rrrxrrry +=+=(2) h 1 p T (2) V 2221 2312323cos2rrrrr+=+(3) 33 arctan2OAOC =+ ,(4) r2XM | ,2 T (2) V p ,1. _ + 1“ V Vr T
8、2221 52442 252 cos2rrrrr +=+=+ +2221 52452cos 2rrrrr+(5) 2221 52463 3522221 97897cos2cos2rrrrrrrrrr+=+=+ +, (6) 2221 10 12 1176 610 122 cos 22rrrrr +=+ = + (7) 2221 10 11 1287 710 11cos2rrrrr+=+=+,(8)2221 11 13 1498 811 13 cos2rrrrr+= = ,(9)2221 13 14 1110 9 913 14cos2rrrrr+=(10) ()()13 91111622213
9、915 16 1715 16 16cos2 sincos2 cos sin2yyLOHrLJKrLOHrrrrrr r= + =+(11) T (11)LyV U L YZ_US . U H V p B E m 4 KME 13 9 15 11k 13 9 15 11(cos cos )sin sin )kxr ryOHr r= +=-(12) U E“y _ YV E“/ V s1 U Z _V ?_T ? ?1 TE . !9 7y l1 w F z l z V_ _ . UG NX5.0 /y U iMotion Simulation l_ y UE“8 m 5 U . U_ ?1 p
10、y7V w wsY ! z !V w 10,mm/s HW 15,s 300 Uw 10,mm/s HW 10,s 200. m 6_V_ . 50 ? S/v 24 1 m 5 U E“ Fig.5 Virtual prototype model of wheelchair (B) _( (C) m 6 U_ Fig.6 Simulation position of wheelchair YV _V U V A T p ?MB V ? !91 p .,V_T ?4 | Ma a F wL# 0V V71 .,m 7 V_T4 | E JMa F wL . , (B)E (C)+m 7 E J
11、Ma F wL Fig.7 Displacementvelocity and acceleration diagram of points E and J .d U # ? U?1 p !9 B ? Ui s U s# e4 $ .,YV U E“_# wL V U_ # C U !9 . ID 1B SEd9 a =Q S% “ 5lF . =Q S% “? S% 9 Xr 8,296J. S% 2006(12)5. 2B S -T i . S g -?Z t J. S2007(02)1518. 3B . B V U !9J. 0 . 2007(10)69. 4B b . ? UC?Zt J
12、. / 2003(3)1216. 5B dt f # . U( VU !95# J. 2v 1 S 20054(6)600625. 6B dt f # . U(VU !9 ) J. r 200511(4)4449. 7B Hsin-Sheng LeeShinn-Liang ChangKuo-Huang Lin. A study of the designmanufacture and remote control of a pneumatic excavator J. International Journal of Mecha-nical Engineering Education200432(4)345361. 8B Zo . UG/ E“/ j _a s D. v 2004.
