Abstract: The mechanical model of a four-link electric chair is studied and corresponding simulation experiment on it is conducted through research methods of the robot kinematics and dynamics. After studying the D-H matrix form of the planar motion mechanism, the kinematics model of the chair is established by D-H parameters method, and Matlab is used to achieve a rapid simulation of the chair’s kinematic pose. The motor-selection problem of the chair is solved. Through the study of ergonomics with body-mass-distribution model, the electric chair’s dynamics model is established and the calculation method of motor selection problem is achieved. Finally compared the calculation results with simulation results in Solidworks motion, it seems that mechanical model established can well predict motor torque changes in the chair design.

Key words: D-H parameters method, ergonomics, mechanism design, robotics, Solidworks motion simulation