如厕智能轮椅并联调节机构的设计与分析

doi:10.3901/JME.2021.05.052

机械工程学报 ›› 2021, Vol. 57 ›› Issue (5): 52-62.doi: 10.3901/JME.2021.05.052

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如厕智能轮椅并联调节机构的设计与分析

史小华¹, 卢浩², 陈子明¹

1. 燕山大学机械工程学院秦皇岛 066004;
2. 复旦大学工程与应用技术研究院上海 200433

收稿日期:2020-11-11 修回日期:2021-01-20 出版日期:2021-03-05 发布日期:2021-04-28
通讯作者: 卢浩(通信作者),男,1990年出生,博士研究生。主要研究方向为护理机器人。E-mail:luh20@fudan.edu.cn
作者简介:史小华,男,1978年出生,博士,硕士研究生导师。主要研究方向为康复机器人、助老助残服务机器人。E-mail:xhshi@ysu.edu.cn
基金资助:
国家自然科学基金（51775474）资助项目。

Design & Analysis of Parallel Adjustment Mechanism for Toilet Intelligent Wheelchair

SHI Xiaohua¹, LU Hao², CHEN Ziming¹

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Academy for Engineering & Technology, Fudan University, Shanghai 200433

Received:2020-11-11 Revised:2021-01-20 Online:2021-03-05 Published:2021-04-28

摘要/Abstract

摘要： 针对下肢运动功能障碍患者行动受限和无法独立如厕的难题，开发出一款同时解决代步和如厕功能的智能轮椅。在分析如厕过程中起坐规律的基础上，提出一种含耦合支链的平面两自由度并联机构，实现乘坐高度和坐-站姿态调节，并通过考虑椅面高度和倾角范围的可量化评价函数确定机构关键连杆尺寸。为进一步认识此并联机构特性，进行运动学、静力学分析并完成零部件选型和整体设计工作。针对动平台末端理想轨迹需要两个驱动增加结构复杂性和占用便器空间的问题，提出利用加权平均函数寻找水平动滑块最优固定点的方法，实现单独驱动方式即可使末端实际轨迹贴近理想轨迹。试验结果表明该方案高度调节范围为290～550 mm能适应不同规格便器，并能在不同高度下完成如厕过程中坐-站姿态变换，满足了患者自主如厕和代步需求。

关键词: 智能轮椅, 辅助如厕, 站姿-坐姿调节, 并联机构

Abstract: Aiming at the problem of limited movement and unable to go to the toilet independently for patients with lower limb motor dysfunction, an intelligent wheelchair is developed to solve the walking and toilet functions at the same time. Based on the analysis of the law of sitting up in the toilet, a planar two degree of freedom parallel mechanism with coupling branch chain is proposed to realize the adjustment of riding height and sitting standing posture. The key link size of the mechanism is determined by the quantifiable evaluation function considering the height and inclination range of the chair surface. In order to further understand the characteristics of the parallel mechanism, kinematic and static analysis are carried out, and the parts selection and overall design are completed. In order to solve the problem that the ideal trajectory at the end of the moving platform needs two drives to increase the structural complexity and occupy the toilet space, a method is proposed to find the optimal fixed point of the horizontal moving slider by using the weighted average function. The experimental results show that the height adjustment range of the scheme is 290-550mm, which can adapt to different specifications of toilet, and can complete the sit stand posture transformation in the process of toilet at different heights, and meet the needs of patients' self-toilet and walking.

Key words: intelligent wheelchair, auxiliary toilet function, standing sitting adjustment, parallel mechanism

中图分类号:

TP242

史小华, 卢浩, 陈子明. 如厕智能轮椅并联调节机构的设计与分析[J]. 机械工程学报, 2021, 57(5): 52-62.

SHI Xiaohua, LU Hao, CHEN Ziming. Design & Analysis of Parallel Adjustment Mechanism for Toilet Intelligent Wheelchair[J]. Journal of Mechanical Engineering, 2021, 57(5): 52-62.

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如厕智能轮椅并联调节机构的设计与分析

Design & Analysis of Parallel Adjustment Mechanism for Toilet Intelligent Wheelchair

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