一种可折叠电动轮椅的设计
陈世超，林光春，黄亚太，徐炳辉
（四川大学 机械工程学院，四川 成都 610065）
摘要：针对可折叠电动轮椅折叠效果不理想问题，运用并联机构设计一款可快速实现折叠与展开的新型电动轮椅。首先通过对市场上主流的两种折叠方式的分析进行可折叠电动轮椅的概念设计，并构思其总体方案，然后基于符号法对折叠机构进行数学建模，利用解析法并通过构建静力学和动力学方程组对折叠机构进行静力学和动力学分析，再结合人机工程学原理和力学分析结果，对折叠机构进行符号建模并进行力学综合，完成可折叠电动轮椅车基本尺寸的设计，根据力学分析的结果，利用MATLAB软件分析杆件尺寸对压力角、传动角和杆件作用力的影响，最后对轮椅车进行具体结构的设计。此电动轮椅不仅便于折叠与展开，而且折叠前后轮椅车的尺寸有明显变化，折叠效果较为理想。
关键词：可折叠电动轮椅；折叠机构；尺寸设计
中图分类号：TP24 文献标志码：A doi：10.3969/j.issn.1006-0316.2019.08.012
文章编号：1006－0316 (2019) 08－0062－09
The Design of Foldable Electric Wheelchair
CHEN Shichao，LIN Guangchun，HUANG Yatai，XU Binghui
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：Aiming at the unsatisfactory folding effect of foldable electric wheelchair, a new type of electric wheelchair is designed by using parallel mechanism, which can quickly fold and unfold. Firstly, the conceptual design of foldable electric wheelchair is carried out through the analysis of two main folding modes in the market, and its overall scheme is conceived. Then, the mathematical model of folding mechanism is established based on symbolic method, and the static and dynamic analysis of folding mechanism is carried out by using analytical method and by constructing static and dynamic equations. Then, the combination of ergonomic principles and dynamic analysis is made. As a result, symbolic modeling and mechanical synthesis of folding mechanism are carried out to complete the design of basic dimensions of foldable electric wheelchair vehicle. According to the results of mechanical analysis, the influence of rod size on pressure angle, transmission angle and force of rod is analyzed by using MATLAB software. Finally, the specific structure of wheelchair vehicle is designed. The electric wheelchair is not only easy to fold and unfold, but also has obvious changes in the size of the wheelchair car before and after folding. The folding effect is ideal.
Key words：foldable electric wheelchair；folding mechanism；size design
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收稿日期：2019－02－27
基金项目：四川大学－泸州市人民政府战略合作科技项目（2015CDLZ-S02）
作者简介：陈世超（1992－），男，河南汝州人，硕士研究生，主要研究方向为机构学与机器人学；林光春（1964－），男，四川成都人，博士，教授、硕士生导师，主要研究方向为机构学与机器人学。
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