IJE TRANSACTIONS A: Basics Vol. 31, No. 10 (October 2018) 1767-1772   

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C. Zhou, L. Zhao, Y. Yu and X. Li
( Received: June 12, 2018 – Accepted in Revised Form: August 17, 2018 )

Abstract    To effectively improve the tire grounding behaviors of wheelchair robots, an analytical method is proposed to analyze and optimize the tire grounding safety. Firstly, taking the cushion and tires as the vibration isolation elements with stiffness and damping, the vertical vibration model of the human-wheelchair robot is established. Then, taking the random excitation as the typical input, the formulae of the TDD (tire dynamic deflection) frequency response function H and the RMS (root mean square) response are derived and the response coefficient λ is proposed. Moreover, the influence laws of system parameters on H and λ are revealed. Thirdly, based on λ, the analytical optimization model for the cushion system damping ratio ξ2 is established. Finally, a case study and numerical simulation were carried out. The results show that the relative deviation of the cushion optimal damping is about 0.3%.


Keywords    wheelchair Robots, Tire , Safety Analysis, Analytical Method, Running Process



برای بهبود موثر و بهبود رفتارهای پایه ریش تراش روبات‌های صندلی چرخدار، یک روش تحلیلی برای تحلیل و بهینه‌سازی ایمنی پایه‌ی تایر صندلی چرخدار پیشنهاد شده است. اولاً، استفاده از کوسن و لاستیک‌ها را به عنوان عناصر جداسازی لرزش با سفتی و سقوط، مدل ارتعاش عمودی از روبات چرخشی انسان ساخته شده است. سپس، با توجه به تحرک تصادفی به عنوان ورودی معمولی، فرمول های پاسخ TDD (تابع نفوذ پویای تایر) عملکرد پاسخ H و RMS (میانگین مربع مربع) پاسخ می‌گیرند و ضریب پاسخ λ پیشنهاد می‌شود. علاوه بر این، قوانین نفوذ پارامترهای سیستم در H و λ مشخص می‌شود. سوم، بر اساس λ، مدل بهینه‌سازی تحلیلی برای نسبت ساییدگی سیستم ξ2 ایجاد شده است. در نهایت، یک مطالعه موردی و شبیه‌سازی عددی انجام شد. نتایج نشان می‌دهد که انحراف نسبی محدوده مطلوب کاهشی حدود 3/0٪ داشته است.


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