Design and Analysis of Linear Connecting Rod Climbing Mechanism

Zhifang Zhu; Zhijie Zhang; Jiawei Pan; Zeping Zou; Bingliang Ye; Baoling Liu

doi:10.16578/j.issn.1004.2539.2021.03.016

您当前的位置：

首页 >

文章列表页 >

Design and Analysis of Linear Connecting Rod Climbing Mechanism

Design· Calculation | 更新时间：2022-11-10

- Design and Analysis of Linear Connecting Rod Climbing Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 95-98(2021)
- 作者机构：
  
  1.浙江理工大学机械与自动控制学院，浙江杭州 310018
  2.南昌工程学院江西省精密驱动与控制重点实验室，江西南昌 330009
  3.深圳市瀚德智能机器人有限公司，广东深圳 518048
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.016
  CLC：
扫描看全文
祝志芳,张志杰,潘家伟等.直线型连杆爬升机构的设计与分析[J].机械传动,2021,45(03):95-98.

Zhu Zhifang,Zhang Zhijie,Pan Jiawei,et al.Design and Analysis of Linear Connecting Rod Climbing Mechanism[J].Journal of Mechanical Transmission,2021,45(03):95-98.
祝志芳,张志杰,潘家伟等.直线型连杆爬升机构的设计与分析[J].机械传动,2021,45(03):95-98. DOI： 10.16578/j.issn.1004.2539.2021.03.016.

Zhu Zhifang,Zhang Zhijie,Pan Jiawei,et al.Design and Analysis of Linear Connecting Rod Climbing Mechanism[J].Journal of Mechanical Transmission,2021,45(03):95-98. DOI： 10.16578/j.issn.1004.2539.2021.03.016.

摘要

通过与现有电动爬楼轮椅的爬升机构的对比与分析，提出了直线型连杆爬升机构。对直线型连杆爬升机构进行设计研究，其端点轨迹上半部分为半圆形，下半部分为近似直线的弦，该轨迹与动物行走步态极其相似；将其作为爬升机构的设计基础，并利用SolidWorks软件对直线型连杆爬升机构进行建模，并对爬升机构在爬楼梯过程的轨迹进行了分析。结果表明，该爬升机构设计方案合理，爬升机构爬升运动轨迹近似直线，较大程度降低了颠簸，为爬楼机构的设计提供了新的理论参考。

Abstract

Based on the comparison and analysis with the climbing mechanism of the existing electric wheelchair， the linear connecting rod climbing mechanism is proposed. The design research of linear connecting rod climb mechanism is carried out， the endpoint trajectory upper part as the semicircle， the approximate linear the lower part of the string， the trajectory and animal walking gait extremely similar， so use it as a climbing mechanism design basis， and by using the SolidWorks software climb straight connecting rod mechanism modeling， and during the process of climbing stairs trajectory of climbing mechanism is analyzed. The simulation results show that the design scheme of the climbing mechanism is reasonable， the climbing trajectory of the climbing mechanism is approximately linear， and the turbulence is greatly reduced， which provides a new theoretical reference for the design of the climbing mechanism.

关键词

爬楼梯轮椅直线型连杆机构运动学分析

Keywords

Climbing wheelchairLinear connecting rod mechanismKinematics analysis

references

王占礼，李爽，陈延伟，等.双曲柄式爬升机构的设计与分析［J］.机械传动，2019，43（4）：94-97.

WANG Zhanli，LI Shuang，CHEN Yanwei，et al.Design and analysis of double-crank climbing mechanism［J］.Journal Mechanical Transmission，2019，43（4）：94-97.

CHEN K M，LI Y H，CHANG H T，et al.An elastic band exercise program for older adults using wheelchairs in taiwan nursing homes：a cluster randomized trial［J］.International Journal of Nursing Studies，2015，52（1）：30-38.

苏和平，王人成.爬楼梯轮椅的研究进展［J］.中国康复医学杂志，2005，20（5）：366-367.

SU Heping，WANG Rencheng.Research progress of stair climbing wheelchair［J］.China Rehabilitation Medical Engineering，2005，20（5）：366-367.

胡杰，王占礼，陈延伟，等.基于齿轮齿条传动的爬升机构设计与研究［J］.机械传动，2016，40（9）：100-103.

HU Jie，WANG Zhanli，CHEN Yanwei，et al.Design and research of climbing mechanism based on rack and pinion transmission［J］.Journal of Mechanical Transmission，2016，40（9）：100-103.

郭化超.电动爬楼梯轮椅优化设计与稳定性研究［D］.长春：长春工业大学，2014：65-70.

GUO Huachao.Research on the optimal design and stability of electric stair climbing wheelchair［D］.Changchun：Changchun University of Technology，2014：65-70.

HESSE S，TOMELLERI C，BARDELEBEN A，et al.Robot-assisted practice of gait and stair climbing in nonambulatory stroke patients［J］.Joumal of Rehabilitation Research & Development，2012，49（4）：613.

何丽.腿轮复合式电动爬楼轮椅的设计与分析［D］.秦皇岛：燕山大学，2015：25-33.

HE Li.Design and analysis of a compound electric wheelchair with legs and wheels［D］.Qinhuangdao：Yanshan University，2015：25-33.

中华人民共和国住房和城乡建设部.建筑设计防火规范：GB50016-2014（2018版）［S］.北京：中国标准出版社，2014：5-39.

Ministry of housing and urban-rural development，PRC.Code for fire prevention in architectural design：GB50016-2014 （2018 Edition）［S］.Beijing：China Standard Press，2014：5-39.

周秋雨，邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析［J］.机械传动，2016，40（4）：74-80.

ZHOU Qiuyu，XING Xiaodong.Structural design and analysis of an omnidirectional mobile stair climbing wheelchair［J］.Journal of Mechanical Transmission，2016，40（4）：74-80.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design on a Hybrid Drive Feeding Mechanism of High-speed Industrial Sewing Machine

Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair

Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism

Comparative Analysis of the Workspace of 3-RSS and 3-RUU Coaxial Drive Layout Parallel Robots

Kinematics Analysis of the Circuit Board Gripper Mechanism

Related Author

No data

Related Institution

Zhejiang Jack Intelligent Sewing Technology Co., Ltd.

Jack Technology Co., Ltd.

Higher Vocational College, Taizhou Open University

Tianjin Key Laboratory of Modern Electromechanical Equipment Technology

School of Mechanical Engineering, Tiangong University

⁰