摘要
爬楼梯轮椅的行驶轮升降机构是典型的并联四连杆机构,为了提高轮椅行驶轮升降时的力学性能,减少所需的整体驱动力矩,在对轮椅进行动力学分析的基础上,以四连杆机构除机架外的连杆以及杆间角度为设计变量,以所需驱动力矩函数的积分为目标函数,并列出约束条件,在MATLAB中编程,利用带有惩罚函数的粒子群算法对爬楼梯轮椅行驶轮升降机构进行优化设计。对比优化前后目标函数值以及所需驱动力矩曲线发现,优化后目标函数值和驱动力矩明显减小,避免了力矩过大所造成的损耗。总之,优化设计使轮椅在升降过程中的力学性能有了极大的提升。
Stair-climbing wheelchair lifting mechanism of the driving wheel is a typical parallel four-bar mechanism.In order to improve the mechanical properties of wheelchair when driving wheel lifting and reduce the overall driving moment,it takes the connecting rods and the angle between the rods of the four-bar linkage except the frame as design variables,defines the constraint conditions and proposes the particle swarm optimization algorithm with penalty function for design of stair-climbing wheelchair wheel lifting mechanism and the required driving moment function of points as the objective function.Comparing the objective function value before and after optimization and the required driving torque curve,it shows that the objective function value and driving torque are significantly reduced after optimization,avoiding the loss caused by excessive torque,the optimized design greatly improves the mechanical properties of the lifting process of the wheelchair.
作者
王宇飞
张庆
Wang Yufei;Zhang Qing(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)
出处
《机械设计与制造工程》
2021年第5期1-5,共5页
Machine Design and Manufacturing Engineering
关键词
爬楼梯轮椅
并联四杆机构
优化设计
粒子群算法
MATLAB
stair-climbing wheelchair
parallel four-bar mechanism
optimization design
particle swarm optimization algorithm
MATLAB
