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

doi:10.16183/j.cnki.jsjtu.2019.12.014

Abstract

Abstract: 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.

Key words: rehabilitation robot wheelchairs; random excitation; vibration suppression; analytical model

CLC Number:

TP 242.6

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.

References

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

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