Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair
The rear leg mechanism of climbing wheelchair is the typical planar 2 degrees of freedom fivebar linkages,in order to improve the motion performance of the wheelchair,based on the kinematic analysis and the stress analysis on the key point of the rear leg,taking the length of two side links and one...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.016 |
| _version_ | 1826881730582151168 |
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| author | Li Can Liu Zengbao Lu Jianjun Fan Liubin Jia Lixiang |
| author_facet | Li Can Liu Zengbao Lu Jianjun Fan Liubin Jia Lixiang |
| author_sort | Li Can |
| collection | DOAJ |
| description | The rear leg mechanism of climbing wheelchair is the typical planar 2 degrees of freedom fivebar linkages,in order to improve the motion performance of the wheelchair,based on the kinematic analysis and the stress analysis on the key point of the rear leg,taking the length of two side links and one linkage of the five bar linkage as the design variable,the mean of the parallel mechanism Jacobian condition number as the objective function,the constraint conditions are given,and the nonlinear genetic algorithm are used to the optimization design of wheelchair rear leg mechanism. After that,the motion track before and after the optimization of five bar mechanism and the stress of the key point are simulated in the MATLAB. Through the comparison shows that,the optimal Jacobian condition number decreases obviously,the active space of five bar mechanism is more compact and the singular configuration of the mechanism is effectively avoided. The position and posture of the rear leg turn more flexible. The force at the key points of the rear leg mechanism is obviously reduced,the noise in the working process is effectively reduced and the wheelchair run more smoothly. In short,through the optimal design,the performance of the wheelchair is significantly improved. |
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| id | doaj.art-6fa5b4ef7cdd4c2381b8d9beef814841 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:50:38Z |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-6fa5b4ef7cdd4c2381b8d9beef8148412025-01-10T14:40:07ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142808429938354Optimal Design of the Rear Leg Mechanism of Climbing WheelchairLi CanLiu ZengbaoLu JianjunFan LiubinJia LixiangThe rear leg mechanism of climbing wheelchair is the typical planar 2 degrees of freedom fivebar linkages,in order to improve the motion performance of the wheelchair,based on the kinematic analysis and the stress analysis on the key point of the rear leg,taking the length of two side links and one linkage of the five bar linkage as the design variable,the mean of the parallel mechanism Jacobian condition number as the objective function,the constraint conditions are given,and the nonlinear genetic algorithm are used to the optimization design of wheelchair rear leg mechanism. After that,the motion track before and after the optimization of five bar mechanism and the stress of the key point are simulated in the MATLAB. Through the comparison shows that,the optimal Jacobian condition number decreases obviously,the active space of five bar mechanism is more compact and the singular configuration of the mechanism is effectively avoided. The position and posture of the rear leg turn more flexible. The force at the key points of the rear leg mechanism is obviously reduced,the noise in the working process is effectively reduced and the wheelchair run more smoothly. In short,through the optimal design,the performance of the wheelchair is significantly improved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.016Climbing wheelchairFive bar mechanismMultiobjective optimizationGenetic algorithmMatlab |
| spellingShingle | Li Can Liu Zengbao Lu Jianjun Fan Liubin Jia Lixiang Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair Jixie chuandong Climbing wheelchair Five bar mechanism Multiobjective optimization Genetic algorithm Matlab |
| title | Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair |
| title_full | Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair |
| title_fullStr | Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair |
| title_full_unstemmed | Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair |
| title_short | Optimal Design of the Rear Leg Mechanism of Climbing Wheelchair |
| title_sort | optimal design of the rear leg mechanism of climbing wheelchair |
| topic | Climbing wheelchair Five bar mechanism Multiobjective optimization Genetic algorithm Matlab |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.016 |
| work_keys_str_mv | AT lican optimaldesignoftherearlegmechanismofclimbingwheelchair AT liuzengbao optimaldesignoftherearlegmechanismofclimbingwheelchair AT lujianjun optimaldesignoftherearlegmechanismofclimbingwheelchair AT fanliubin optimaldesignoftherearlegmechanismofclimbingwheelchair AT jialixiang optimaldesignoftherearlegmechanismofclimbingwheelchair |