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

Cui Jiahui; Li Lin; Liang Dong; Qin Chengxin

doi:10.16578/j.issn.1004.2539.2023.08.007

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

Design· Calculation | 更新时间：2023-08-22

- Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair
- Journal of Mechanical Transmission Vol. 47, Issue 8, Pages: 45-52(2023)
- 作者机构：
  
  1.天津工业大学机械工程学院，天津 300387
  2.天津市现代机电装备技术重点实验室，天津 300387
  3.湖南大学机械与运载工程学院，湖南长沙 410082
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.08.007
  CLC：
- Published：15 August 2023，
  
  Received：14 June 2022，
  
  Revised：06 July 2022，
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崔佳辉,李林,梁栋等.一种车载轮椅自动收放机械臂设计与运动分析[J].机械传动,2023,47(08):45-52.

Cui Jiahui,Li Lin,Liang Dong,et al.Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair[J].Journal of Mechanical Transmission,2023,47(08):45-52.
崔佳辉,李林,梁栋等.一种车载轮椅自动收放机械臂设计与运动分析[J].机械传动,2023,47(08):45-52. DOI： 10.16578/j.issn.1004.2539.2023.08.007.

Cui Jiahui,Li Lin,Liang Dong,et al.Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair[J].Journal of Mechanical Transmission,2023,47(08):45-52. DOI： 10.16578/j.issn.1004.2539.2023.08.007.

摘要

提出了一种用于车载轮椅自动收放的5自由度机械臂。首先，根据D-H方法建立机械臂数学模型，并进行正向及逆向运动学分析，在进行逆向运动学分析时，分别用解析法和反向传播（Back Propagation，BP）神经网络进行了求解；其次，采用五次多项式插值法对机械臂进行关节空间轨迹规划，实现机械臂的平滑无冲击运动；随后，基于蒙特卡罗法分析机械臂工作空间，得到机械臂末端的工作空间点云图；最后，针对具体车载应用场景，开展了虚拟仿真实验。仿真实验结果表明，机械臂构型设计合理，运动灵活，满足应用需求。为样机开发及应用提供了理论依据。

Abstract

A five degrees of freedom manipulator for automatic retractable vehicle-mounted wheelchairs is proposed. Firstly

the mathematical model of the manipulator is established according to the D-H method

and the forward and inverse kinematics analysis is carried out. When the inverse kinematics analysis is carried out

the analytical method and the back propagation (BP) neural network are used to solve the problem respectively. Secondly

the quintic polynomial interpolation method is used to plan the joint space trajectory of the manipulator

so as to realize the smooth and impact-free movement of the manipulator. Then

the workspace of the manipulator is analyzed based on the Monte Carlo method

and the point nephogram of the workspace for the end positioning of the manipulator is obtained. Finally

virtual simulation experiment is carried out for specific vehicle-mounted application scenarios. The simulation results show that the design of the manipulator is reasonable

the movement is flexible

and it meets the application requirements

which will provide a theoretical basis for the development and application of the prototype.

关键词

运动学分析BP神经网络蒙特卡罗法轨迹规划工作空间

Keywords

Kinematics analysisBP neural networkMonte carlo methodTrajectory planningWorkspace

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