上海交通大学学报 ›› 2019, Vol. 53 ›› Issue (12): 1502-1507.doi: 10.16183/j.cnki.jsjtu.2019.12.014
赵雷雷1,2,于曰伟1,周长城1,杨福兴2
发布日期:
2020-01-06
通讯作者:
周长城, 男, 教授, 博士生导师,E-mail: greatwall@sdut.edu.cn.
作者简介:
赵雷雷(1982-), 男, 山东省滨州市人, 博士, 主要研究方向为移动机器人及智能车设计.
基金资助:
ZHAO Leilei 1,2,YU Yuewei 1,ZHOU Changcheng 1,YANG Fuxing 2
Published:
2020-01-06
摘要: 为了有效抑制随机路面激励下康复机器人轮椅的振动,提出了一种抑制参数解析优化方法.将康复机器人轮椅的坐垫及轮胎视为具有刚度和阻尼的减振元件,建立了人体-机器人轮椅垂向振动模型;以路面不平顺随机激励作为振动模型的典型输入,推导了人体振动加速度频响函数及方均根响应解析式,并提出了振动响应系数,进而揭示了轮胎减振系统阻尼比及坐垫减振系统阻尼比对频响函数及响应系数的影响规律;基于响应系数,创建了人体-机器人轮椅抑振参数的解析优化模型.结果表明,通过解析优化模型所得坐垫及轮胎最优阻尼与数值模拟优化结果的相对偏差分别为0.3%和0.6%.模型的正确性通过实例优化及数值模拟得到了验证.
中图分类号:
赵雷雷,于曰伟,周长城,杨福兴. 路面随机激励下康复机器人轮椅的抑振解析[J]. 上海交通大学学报, 2019, 53(12): 1502-1507.
ZHAO Leilei,YU Yuewei,ZHOU Changcheng,YANG Fuxing. Analysis and Suppression of Rehabilitation Robotic Wheelchair Vibrations Under Random Road Excitations[J]. Journal of Shanghai Jiaotong University, 2019, 53(12): 1502-1507.
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