Design and analysis of folding mechanism for intelligent wheelchair-stretcher robot

被引：2
|
作者：
Sang L.-F. [1 ,2 ,3 ]
Fu J.-Z. [1 ]
Gan Z.-X. [2 ]
Wang H.-B. [4 ,5 ]
Tian Y. [4 ,5 ]
机构：
[1] College of Mechanical Engineering, Zhejiang University, Hangzhou
[2] Ningbo Intelligent Manufacturing Industry Research Institute, Yuyao
[3] College of Mechanical and Electrical Engineering, Ningbo Polytechnic, Ningbo
[4] Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao
[5] Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2019年 / 53卷 / 04期
关键词：
Driving device; Folding mechanism; Mechanism design; Wheelchair-stretcher robot;
D O I：
10.3785/j.issn.1008-973X.2019.04.001
中图分类号：
学科分类号：
摘要：
A five-bar mechanism with single degree of freedom was proposed to realize the folding transforming of the intelligent wheelchair-stretcher robot. The mechanism was designed and analyzed in detail. The dimensions of the armrest link and the side link were optimized by using minimum containment area method, which were 507.9 mm and 332.5 mm, respectively. The driving device was designed by adopting six torsional springs and RV gear motor according to the static analysis in order to reduce the driving torque of the motor and compact overall structure. The folding mechanism of the robot was designed based on parameters optimization and the design of driving device. The stresses of the armrest link in the toilet state and the folding state were analyzed to verify its reliability. The prototype of the intelligent wheelchair-stretcher robot was developed, and the performance of its folding mechanism was tested. The designed driving device and the optimized parameters are reasonable from the change of the motor current and the view of the movement process of the whole device. © 2019, Zhejiang University Press. All right reserved.
引用
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页码：613 / 620
页数：7
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