Design & Analysis of Parallel Adjustment Mechanism for Toilet Intelligent Wheelchair

doi:10.3901/JME.2021.05.052

Abstract

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

CLC Number:

TP242

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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