噪声与振动控制2019，Vol.39Issue(1)：5-9,5.DOI:10.3969/j.issn.1006-1355.2019.01.002
助老机器人伴行模态振动对手部舒适性影响分析
Influence of Vibration Characteristics of Elderly-assistant Robots on Hand Comfort inWalking Posture
摘要
Abstract
When the elderly-assistant robot is helping the old person to walk outdoors, it may meet uneven road or instantaneous impact. These situations will give the robot impact vibration and impart the old person the segmental vibration of the hands. In this paper, impact vibration resistance characteristics of the robot and walking comfort of the elderly due to impact are analyzed in order to study whether the elderly-assistant robot meets the comfort requirement of the elderly or not. First of all, the forced vibration of the front and rear wheels of the robot under different displacement input is analyzed and the 2-DOF vibration model, including double shaft vertical vibration and pitching vibration, of the robot is established. Then, the vibration model of the hands of the old person is established by using the geometrical characteristics of the robot. Finally, Matlab / Simulink software is used to simulate the model for impact resistance vibration characteristics of the robot and walking comfort of the old person for both situations such as instantaneous impact and uneven road. The results show that the vibration amplitude and vibration velocity of the hands of the old person are small under both the situations. Thus, the elderly-assistant robot meets the elderly comfort requirement of operation by hands. The research process provides a theoretical basis for analysis of the related issues for the same kind of robots.关键词
振动与波/助老机器人/MATLAB/Simulink仿真分析/耐冲击振动特性/舒适性Key words
vibration and wave/vibration and wave/elderly-assistant robot/MATLAB/Simulink simulation analysis/impact vibration resistance characteristics/comfort分类
机械制造引用本文复制引用
穆小奇,张小栋,王亚宾,韩焕杰..助老机器人伴行模态振动对手部舒适性影响分析[J].噪声与振动控制,2019,39(1):5-9,5.基金项目
2015年陕西省科技统筹创新工程计划资助项目(2015KTZDGY-02-01) （2015KTZDGY-02-01）
