[1]马 可,李孟员,苑明海,等.一种腿轮结合的助行器设计及仿真[J].计算机技术与发展,2021,31(09):131-136.[doi:10. 3969 / j. issn. 1673-629X. 2021. 09. 022]
　MA Ke,LI Meng-yuan,YUAN Ming-hai,et al.Design and Simulation of a Walker with Legs and Wheels[J].,2021,31(09):131-136.[doi:10. 3969 / j. issn. 1673-629X. 2021. 09. 022]
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一种腿轮结合的助行器设计及仿真()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
31
期数:
2021年09期
页码:
131-136
栏目:
应用前沿与综合
出版日期:
2021-09-10

文章信息/Info

Title:
Design and Simulation of a Walker with Legs and Wheels
文章编号:
1673-629X(2021)09-0131-06
作者:
马 可1; 2 ; 李孟员1 ; 苑明海1 ; 裴自卿1
1. 河海大学 机电工程学院,江苏 常州 213022;
2. 江苏省特种机器人技术重点实验室,江苏 常州 213022
Author(s):
MA Ke1; 2 ; LI Meng-yuan1 ; YUAN Ming-hai1 ; PEI Zi-qing1
1. School of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;
2. Jiangsu Key Laboratory of Special Robot Technology,Changzhou 213022,China
关键词:
下肢助行器; 医疗康复; 结构设计; 步态规划; 样机模型; 仿真分析
Keywords:
lower limb rehabilitation walker; medical rehabilitation; structural design; gait planning; prototype model;  simulation analysis
分类号:
TP302. 1
DOI:
10. 3969 / j. issn. 1673-629X. 2021. 09. 022
摘要:
针对现有下肢康复助行器存在的使用时需反复抬起而造成的费时费力和对不平坦的地形适应力较差等缺陷, 提出了一种内置动力系统的腿轮结合的康复助行器设计方案。 该方案通过前腿后轮的设计,利用前侧腿部与地面的摩擦力以及助行器腿部的自锁能力, 带动后轮向前运动, 从而可以使康复助行器具备一定的爬坡能力, 对不平坦的地面有更强的适应性。设计了助行器总体结构,确定了传动方式及各主要部件尺寸参数,并对行走过程中机构各极限位置进行理论分析和计算。 利用 SOLIDWORKS 建立模型,对关键部件强度进行静力学分析,最后利用 ADAMS 软件建立运动模型,设定实验参数进行仿真分析,得出运动时的速度、加速度、步距等参数,测量实物样机运动过程中的数据,将仿真出的结果与实验数据进行对比,验证了设计方案的可行性。
Abstract:
Aiming at the time- consuming and laborious caused by the repeatedly raised and poor adaptability to uneven terrain of the existing lower limb rehabilitation help line device,we propose a scheme of built-in power system legs round combined with rehabilitation help line device. Through the design of the front rear wheel,using the leg and the friction of the ground and help line device of the side leg self-locking ability,the rear wheels can be driven forward,in order to make rehabilitation help line equipment for a certain grade ability, with the stronger adaptability to uneven ground. The overall structure of the walker is designed, the driving mode and the dimension parameters of the main components are determined,and the limit positions of the mechanism are analyzed and calculated theoretically during the walking process. The SOLIDWORKS is to establish a model for statics analysis of the strength of key parts. The final motion model is established by using ADAMS software, simulation analysis is made on setting the experiment parameters to draw a motion parameters such as velocity,acceleration,interval,and the physical prototype data is measured in the process of movement.? The simulation results are compared with the experimental data to verify the feasibility of design scheme.
更新日期/Last Update: 2021-09-10