Analysis and Suppression of Rehabilitation Robotic Wheelchair Vibrations Under Random Road Excitations

被引：0
|
作者：
Zhao L. [1 ,2 ]
Yu Y. [1 ]
Zhou C. [1 ]
Yang F. [2 ]
机构：
[1] School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo, 255049, Shandong
[2] School of Automation, Beijing University of Posts and Telecommunications, Beijing
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2019年 / 53卷 / 12期
关键词：
Analytical model; Random excitation; Rehabilitation robot wheelchairs; Vibration suppression;
D O I：
10.16183/j.cnki.jsjtu.2019.12.014
中图分类号：
学科分类号：
摘要：
To effectively suppress vibrations of rehabilitation robot wheelchair under random excitations, an optimization method for suppression parameters is proposed. Taking cushions and tires as the vibration isolation elements with stiffness and damping, a vertical vibration model of human-wheelchair is established. Taking random excitations of road irregularities as typical model input, formulae of the human acceleration frequency response and the root-mean-square (RMS) response are derived, and response coefficients are proposed. Moreover, influences of the cushion system damping ratio and the tire system damping ratio are revealed. Based on the coefficients, an analytical optimization model for the two ratios is established. The results show that relative deviations of the cushion optimal damping and the tire optimal damping are 0.3% and 0.6%, respectively. The proposed analytical optimization model has been tested with case study and numerical simulation. © 2019, Shanghai Jiao Tong University Press. All right reserved.
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页码：1502 / 1507
页数：5
相关论文
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