1. 山东理工大学 交通与车辆工程学院， 山东 淄博 255049；2. 北京邮电大学 自动化学院，北京 100876
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:国家自然科学基金 (51575325)，北京邮电大学优秀博士创新基金(CX2016206)资助项目Analysis and Suppression of Rehabilitation Robotic Wheelchair Vibrations Under Random Road Excitations
ZHAO Leilei 1,2，YU Yuewei 1，ZHOU Changcheng 1，YANG Fuxing 21. School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255049, Shandong, China; 2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Published:2020-01-06摘要/Abstract
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.
关键词: 康复机器人轮椅； 随机激励； 振动抑制； 解析模型
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
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